INS_complementary Class Reference

Inheritance diagram for INS_complementary:

Collaboration diagram for INS_complementary:

List of all members.

Classes
struct	conf_t
	Configuration structure. More...
Public Types
enum	fence_violation_state_t { IN_FENCE = 0, OUTSIDE_FENCE1, OUTSIDE_FENCE2 }
Public Member Functions
	INS_complementary (State &state, const Barometer &barometer, const Sonar &sonar, const Gps &gps, const PX4Flow &flow, const AHRS &ahrs, const conf_t config=default_config())
	Initialize the module.
bool	update (void)
	Position estimation update step, performing position estimation then position correction (function to be used)
float	last_update_s (void) const
	Last update in seconds.
std::array< float, 3 >	position_lf (void) const
	3D Position in meters (NED frame)
std::array< float, 3 >	velocity_lf (void) const
	Velocity in meters/seconds in NED frame.
float	absolute_altitude (void) const
	Absolute altitude above sea level in meters (>=0)
bool	is_healthy (INS::healthy_t type) const
	Indicates which estimate can be trusted.
Static Public Member Functions
static conf_t	default_config ()
Public Attributes
local_position_t	local_position_
	Local position.
std::array< float, 3 >	vel_
	3D velocity in ned frame
std::array< float, 3 >	acc_bias_
	Accelerometer bias in body frame.
conf_t	config_
	Configuration containing gains.
Friends
class	Mavlink_waypoint_handler

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Constructor & Destructor Documentation

INS_complementary::INS_complementary	(	State &	state,
		const Barometer &	barometer,
		const Sonar &	sonar,
		const Gps &	gps,
		const PX4Flow &	flow,
		const AHRS &	ahrs,
		const conf_t	config = default_config()
	)

Initialize the module.

Parameters:

state	state structure
barometer	barometer structure
sonar	sonar structure
gps	GPS structure
flow	Optic flow structure
ahrs	attitude estimation structure
config	configuration

Returns:

True if the init succeed, false otherwise

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Member Function Documentation

float INS_complementary::absolute_altitude

(

void

)

const [virtual]

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

Returns:

altitude

Implements INS.

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bool INS_complementary::is_healthy

(

INS::healthy_t

type

)

const [virtual]

Indicates which estimate can be trusted.

Parameters:

type	Type of estimate

Returns:

boolean

Implements INS.

float INS_complementary::last_update_s

(

void

)

const [virtual]

Last update in seconds.

Returns:

time

Implements INS.

std::array< float, 3 > INS_complementary::position_lf

(

void

)

const [virtual]

3D Position in meters (NED frame)

Returns:

position

Implements INS.

bool INS_complementary::update

(

void

)

[virtual]

Position estimation update step, performing position estimation then position correction (function to be used)

Returns:

Success

Implements INS.

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std::array< float, 3 > INS_complementary::velocity_lf

(

void

)

const [virtual]

Velocity in meters/seconds in NED frame.

Returns:

velocity

Implements INS.

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

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