Collaboration diagram for Ahrs_ekf_mocap:

Classes
struct	conf_t
	The AHRS EKF MOCAP config structure. More...
Public Member Functions
	Ahrs_ekf_mocap (Mavlink_message_handler &message_handler, AHRS_ekf &ahrs_ekf, const conf_t config_=Ahrs_ekf_mocap::default_config())
	AHRS EKF MOCAP telemetry.
bool	init ()
	Initializes the mocap telemetry message and callback.
Static Public Member Functions
static conf_t	default_config ()
	Default configuration structure.
Static Protected Member Functions
static void	callback (Ahrs_ekf_mocap ahrs_ekf_mocap, uint32_t sysid, const mavlink_message_t msg)
	Method used to update internal state when a message is received.
Protected Attributes
AHRS_ekf &	ahrs_ekf_
	AHRS extended callman filter.
Mavlink_message_handler &	message_handler_
	State covariance.
Mat< 4, 4 >	R_mocap_
	The mocap measurement noise matrix.
Mat< 4, 7 >	H_
	The measurement matrix.
Mat< 4, 1 >	z_
	The measurement vector.
bool	is_init_
	Boolean flag stating if this module has been initialized.
conf_t	config_
	The config structure for the EKF mocap module.
float	last_update_us_
	The last time the mocap was updated.

Detailed Description

The AHRS EKF class.

Constructor & Destructor Documentation

Ahrs_ekf_mocap::Ahrs_ekf_mocap	(	Mavlink_message_handler &	message_handler,
		AHRS_ekf &	ahrs_ekf,
		const conf_t	config_ = `Ahrs_ekf_mocap::default_config()`
	)

AHRS EKF MOCAP telemetry.

Parameters:

message_handler	The Mavlink message handler
ahrs_ekf	The reference to the ahrs_ekf object
config	Configuration structure for the mocap

Method used to update internal state when a message is received.

Parameters:

ahrs_ekf_mocap	The ahrs_ekf_mocap object
sysid	ID of the system
msg	Pointer to the incoming message

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bool Ahrs_ekf_mocap::init ( void )

Initializes the mocap telemetry message and callback.

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