INS_complementary::conf_t Struct Reference

Configuration structure. More...

#include <ins_complementary.hpp>

Collaboration diagram for INS_complementary::conf_t:

List of all members.

Public Attributes
global_position_t	origin
	Global coordinates of the local frame's origin (ie. local (0, 0, 0) expressed in the global frame)
float	kp_gps_XY_pos
	Gain to correct the XY position estimation from the GPS.
float	kp_gps_Z_pos
	Gain to correct the Z position estimation from the GPS.
float	kp_gps_XY_vel
	Gain to correct the XY velocity estimation from the GPS.
float	kp_gps_Z_vel
	Gain to correct the Z velocity estimation from the GPS.
float	kp_gps_XY_pos_dgps
	Gain to correct the XY position estimation from the GPS when it has DPGS fix.
float	kp_gps_Z_pos_dgps
	Gain to correct the Z position estimation from the GPS when it has DPGS fix.
float	kp_gps_XY_vel_dgps
	Gain to correct the XY velocity estimation from the GPS when it has DPGS fix.
float	kp_gps_Z_vel_dgps
	Gain to correct the Z velocity estimation from the GPS when it has DPGS fix.
float	kp_gps_XY_pos_rtk
	Gain to correct the XY position estimation from the GPS when it has RTK fix.
float	kp_gps_Z_pos_rtk
	Gain to correct the Z position estimation from the GPS when it has RTK fix.
float	kp_gps_XY_vel_rtk
	Gain to correct the XY velocity estimation from the GPS when it has RTK fix.
float	kp_gps_Z_vel_rtk
	Gain to correct the Z velocity estimation from the GPS when it has RTK fix.
float	timeout_gps_us
	Time after witch a measure stops being used.
uint32_t	use_gps
	Boolean that indicates if the sensor must be used.
float	kp_sonar_alt
	Gain to correct the Z position estimation from the sonar.
float	kp_sonar_vel
	Gain to correct the Z velocity estimation from the sonar.
float	timeout_sonar_us
	Time after witch a measure stops being used.
uint32_t	use_sonar
	Boolean that indicates if the sensor must be used.
float	kp_baro_alt
	Gain to correct the Z position estimation from the barometer.
float	kp_baro_vel
	Gain to correct the Z velocity estimation from the barometer.
float	timeout_baro_us
	Time after witch a measure stops being used.
uint32_t	use_baro
	Boolean that indicates if the sensor must be used.
float	kp_flow_vel
	Gain to correct the XY velocity estimation from optical flow.
float	flow_gyro_comp_threshold
	Maximum gyroscope value bellow which flow is used.
float	timeout_flow_us
	Time after witch a measure stops being used.
uint32_t	use_flow
	Boolean that indicates if the sensor must be used.
float	kp_acc_bias
	Gain to estimate accelerometer biais from all sensors (weighted by respective gains)
uint32_t	use_acc_bias
	Boolean that indicates if the accel bias should be estimated.

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Detailed Description

Configuration structure.

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The documentation for this struct was generated from the following file:

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