SV_6DOF_GY_KALMAN Struct Reference

Collaboration diagram for SV_6DOF_GY_KALMAN:

Data Fields
float	fPhiPl
float	fThePl
float	fPsiPl
float	fRhoPl
float	fChiPl
float	fRPl [3][3]
Quaternion	fqPl
float	fRVecPl [3]
float	fOmega [3]
int32_t	systick
float	fQw6x6 [6][6]
float	fK6x3 [6][3]
float	fQwCT6x3 [6][3]
float	fQv
float	fZErr [3]
float	fqgErrPl [3]
float	fbPl [3]
float	fbErrPl [3]
float	fAccGl [3]
float	fdeltat
float	fAlphaOver2
float	fAlphaSqOver4
float	fAlphaSqQvYQwbOver12
float	fAlphaQwbOver6
float	fQwbOver3
float	fMaxGyroOffsetChange
int8_t	resetflag

Detailed Description

Definition at line 371 of file sensor_fusion.h.

Field Documentation

float fAccGl[3]

linear acceleration (g) in global frame

Definition at line 393 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fAlphaOver2

PI / 180 * fdeltat / 2.

Definition at line 395 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fAlphaQwbOver6

(PI / 180 * fdeltat) * Qwb / 6

Definition at line 398 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN().

float fAlphaSqOver4

(PI / 180 * fdeltat)^2 / 4

Definition at line 396 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fAlphaSqQvYQwbOver12

(PI / 180 * fdeltat)^2 * (QvY + Qwb) / 12

Definition at line 397 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fbErrPl[3]

gyro offset error (deg/s)

Definition at line 392 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fbPl[3]

gyro offset (deg/s)

Definition at line 391 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fChiPl

tilt from vertical (deg)

Definition at line 378 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fdeltat

sensor fusion interval (s)

Definition at line 394 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fK6x3[6][3]

kalman filter gain matrix K

Definition at line 386 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fMaxGyroOffsetChange

maximum permissible gyro offset change per iteration (deg/s)

Definition at line 400 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fOmega[3]

average angular velocity (deg/s)

Definition at line 382 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fPhiPl

roll (deg)

Definition at line 374 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fPsiPl

yaw (deg)

Definition at line 376 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fqgErrPl[3]

gravity vector tilt orientation quaternion error (dimensionless)

Definition at line 390 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

Quaternion fqPl

a posteriori orientation quaternion

Definition at line 380 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fQv

measurement noise covariance matrix leading diagonal

Definition at line 388 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fQw6x6[6][6]

covariance matrix Qw

Definition at line 385 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fQwbOver3

Qwb / 3.

Definition at line 399 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fQwCT6x3[6][3]

Qw.C^T matrix.

Definition at line 387 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fRhoPl

compass (deg)

Definition at line 377 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fRPl[3][3]

a posteriori orientation matrix

Definition at line 379 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

float fRVecPl[3]

rotation vector

Definition at line 381 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fThePl

pitch (deg)

Definition at line 375 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

float fZErr[3]

measurement error vector

Definition at line 389 of file sensor_fusion.h.

Referenced by fRun_6DOF_GY_KALMAN().

int8_t resetflag

flag to request re-initialization on next pass

Definition at line 401 of file sensor_fusion.h.

Referenced by fInit_6DOF_GY_KALMAN(), and fRun_6DOF_GY_KALMAN().

int32_t systick

systick timer;

Definition at line 383 of file sensor_fusion.h.

Referenced by fFuseSensors().

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

• sensor_fusion.h