INS Class Reference

Inheritance diagram for INS:

List of all members.

Public Types
enum	healthy_t {   XY_VELOCITY, Z_VELOCITY, XYZ_VELOCITY, XY_REL_POSITION,   Z_REL_POSITION, XYZ_REL_POSITION, XY_ABS_POSITION, Z_ABS_POSITION,   XYZ_ABS_POSITION }
	Enumeration of potential healthy estimates.
Public Member Functions
	INS (global_position_t origin=ORIGIN_EPFL)
	Constructor.
virtual bool	update (void)=0
	Main update function.
virtual float	last_update_s (void) const =0
	Last update in seconds.
virtual local_position_t	position_lf (void) const =0
	3D Position in meters (NED frame)
virtual std::array< float, 3 >	velocity_lf (void) const =0
	Velocity in meters/seconds in NED frame.
virtual float	absolute_altitude (void) const =0
	Absolute altitude above sea level in meters (>=0)
virtual bool	is_healthy (INS::healthy_t type) const =0
	Indicates which estimate can be trusted.
virtual global_position_t	position_gf (void) const
	3D Position in global frame
Static Public Member Functions
static const global_position_t &	origin (void)
	Position of origin in global coordinates.
Static Protected Member Functions
static bool	set_origin (global_position_t origin)
	set the origin of the local (NED) coordinate system
Friends
void	ins_telemetry_set_gps_global_origin_callback (INS *ins, uint32_t sysid, const mavlink_message_t *msg)
	Callback for receiving SET_GPS_GLOBAL_ORIGIN messages.

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Member Function Documentation

virtual float INS::absolute_altitude

(

void

)

const [pure virtual]

Absolute altitude above sea level in meters (>=0)

Returns:

altitude

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

virtual bool INS::is_healthy

(

INS::healthy_t

type

)

const [pure virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Returns:

boolean

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

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virtual float INS::last_update_s

(

void

)

const [pure virtual]

Last update in seconds.

Returns:

time

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

static const global_position_t& INS::origin

(

void

)

[inline, static]

Position of origin in global coordinates.

Returns:

origin

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virtual global_position_t INS::position_gf

(

void

)

const [inline, virtual]

3D Position in global frame

Returns:

position

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virtual local_position_t INS::position_lf

(

void

)

const [pure virtual]

3D Position in meters (NED frame)

Returns:

position

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

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bool INS::set_origin

(

global_position_t

origin

)

[static, protected]

set the origin of the local (NED) coordinate system

Parameters:

origin

new origin location

Returns:

success whether the new origin was accepted (currently always true)

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virtual bool INS::update

(

void

)

[pure virtual]

Main update function.

Returns:

Success

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

virtual std::array<float,3> INS::velocity_lf

(

void

)

const [pure virtual]

Velocity in meters/seconds in NED frame.

Returns:

velocity

Implemented in INS_kf, INS_complementary, and INS_AHRS_groundtruth.

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Friends And Related Function Documentation

void ins_telemetry_set_gps_global_origin_callback	(	INS *	ins,
		uint32_t	sysid,
		const mavlink_message_t *	msg
	)		[friend]

Callback for receiving SET_GPS_GLOBAL_ORIGIN messages.

Sets INS::origin to the position sent indicated in the message

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The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/sensing/ins.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/sensing/ins.cpp