Attitude and heading reference system. More...

#include <AHRS.h>

Public Member Functions
	AHRS_type (float sampling_time)

void	attitude_setup (const float3vector &acceleration, const float3vector &induction)
	initial attitude setup from observables

void	update_magnetic_induction_data (float declination, float inclination)

void	update (const float3vector &gyro, const float3vector &acc, const float3vector &mag, const float3vector &GNSS_acceleration, float GNSS_heading, bool GNSS_heading_valid)

void	set_from_euler (float r, float n, float y)

eulerangle< ftype >	get_euler (void) const

quaternion< ftype >	get_attitude (void) const

const float3vector &	get_nav_acceleration (void) const

const float3vector &	get_nav_induction (void) const

float	get_north (void) const

float	get_east (void) const

float	get_down (void) const

float	get_cross_acc_correction (void) const

const float3vector	get_orientation (void) const

const float3vector &	get_gyro_correction (void) const

const float3matrix &	get_body2nav (void) const

const float3vector &	get_nav_correction (void)

const float3vector &	get_gyro_correction (void)

circle_state_t	get_circling_state (void) const

void	write_calibration_into_EEPROM (void)

float	getSlipAngle () const

float	getPitchAngle () const

float	get_turn_rate (void) const

float	get_G_load (void) const

void	update_compass (const float3vector &gyro, const float3vector &acc, const float3vector &mag, const float3vector &GNSS_acceleration)
	rotate quaternion taking angular rate readings

void	update_ACC_only (const float3vector &gyro, const float3vector &acc, const float3vector &mag, const float3vector &GNSS_acceleration)
	rotate quaternion taking angular rate readings

float	getHeadingDifferenceAhrsDgnss () const

float	getMagneticDisturbance () const

float3vector	getBodyInductionError () const

float3vector	getBodyInduction () const

float	getGyro_correction_Power () const

Detailed Description

Attitude and heading reference system.

Definition at line 49 of file AHRS.h.

Constructor & Destructor Documentation

◆ AHRS_type()

AHRS_type::AHRS_type ( float sampling_time )

Definition at line 129 of file AHRS.cpp.

Member Function Documentation

◆ attitude_setup()

void AHRS_type::attitude_setup	(	const float3vector &	acceleration,
		const float3vector &	induction
	)

initial attitude setup from observables

Definition at line 41 of file AHRS.cpp.

References compass_calibration_t< sample_type, evaluation_type >::available(), compass_calibration_t< sample_type, evaluation_type >::calibrate(), quaternion< datatype >::from_rotation_matrix(), quaternion< datatype >::get_rotation_matrix(), vector< datatype, size >::negate(), vector< datatype, size >::normalize(), and vector< datatype, size >::vector_multiply().

Referenced by navigator_t::set_from_add_mag().

◆ get_attitude()

quaternion< ftype > AHRS_type::get_attitude ( void ) const

inline

Definition at line 82 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ get_body2nav()

const float3matrix & AHRS_type::get_body2nav ( void ) const

inline

Definition at line 122 of file AHRS.h.

Referenced by wind_oberserver_t::process_at_10_Hz().

◆ get_circling_state()

circle_state_t AHRS_type::get_circling_state ( void ) const

inline

Definition at line 134 of file AHRS.h.

Referenced by wind_oberserver_t::process_at_10_Hz(), navigator_t::report_data(), and navigator_t::update_at_10Hz().

◆ get_cross_acc_correction()

float AHRS_type::get_cross_acc_correction ( void ) const

inline

Definition at line 106 of file AHRS.h.

◆ get_down()

float AHRS_type::get_down ( void ) const

inline

Definition at line 102 of file AHRS.h.

References quaternion< datatype >::get_down().

Referenced by get_orientation(), and navigator_t::update_at_100Hz().

◆ get_east()

float AHRS_type::get_east ( void ) const

inline

Definition at line 98 of file AHRS.h.

References quaternion< datatype >::get_east().

Referenced by get_orientation(), and navigator_t::update_at_100Hz().

◆ get_euler()

eulerangle< ftype > AHRS_type::get_euler ( void ) const

inline

Definition at line 78 of file AHRS.h.

Referenced by wind_oberserver_t::process_at_10_Hz(), navigator_t::report_data(), and navigator_t::update_at_10Hz().

◆ get_G_load()

float AHRS_type::get_G_load ( void ) const

inline

Definition at line 155 of file AHRS.h.

References pt2< datatype, basetype >::get_output().

Referenced by navigator_t::report_data().

◆ get_gyro_correction() [1/2]

const float3vector & AHRS_type::get_gyro_correction ( void )

inline

Definition at line 130 of file AHRS.h.

◆ get_gyro_correction() [2/2]

const float3vector & AHRS_type::get_gyro_correction ( void ) const

inline

Definition at line 118 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ get_nav_acceleration()

const float3vector & AHRS_type::get_nav_acceleration ( void ) const

inline

Definition at line 86 of file AHRS.h.

Referenced by navigator_t::report_data(), and navigator_t::update_at_100Hz().

◆ get_nav_correction()

const float3vector & AHRS_type::get_nav_correction ( void )

inline

Definition at line 126 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ get_nav_induction()

const float3vector & AHRS_type::get_nav_induction ( void ) const

inline

Definition at line 90 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ get_north()

float AHRS_type::get_north ( void ) const

inline

Definition at line 94 of file AHRS.h.

References quaternion< datatype >::get_north().

Referenced by get_orientation(), and navigator_t::update_at_100Hz().

◆ get_orientation()

const float3vector AHRS_type::get_orientation ( void ) const

inline

Definition at line 110 of file AHRS.h.

References DOWN, EAST, get_down(), get_east(), get_north(), and NORTH.

◆ get_turn_rate()

float AHRS_type::get_turn_rate ( void ) const

inline

Definition at line 151 of file AHRS.h.

References pt2< datatype, basetype >::get_output().

Referenced by navigator_t::report_data().

◆ getBodyInduction()

float3vector AHRS_type::getBodyInduction ( ) const

inline

Definition at line 184 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ getBodyInductionError()

float3vector AHRS_type::getBodyInductionError ( ) const

inline

Definition at line 179 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ getGyro_correction_Power()

float AHRS_type::getGyro_correction_Power ( ) const

inline

Definition at line 189 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ getHeadingDifferenceAhrsDgnss()

float AHRS_type::getHeadingDifferenceAhrsDgnss ( ) const

inline

Definition at line 169 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ getMagneticDisturbance()

float AHRS_type::getMagneticDisturbance ( ) const

inline

Definition at line 174 of file AHRS.h.

Referenced by navigator_t::report_data().

◆ getPitchAngle()

float AHRS_type::getPitchAngle ( ) const

inline

Definition at line 146 of file AHRS.h.

References pt2< datatype, basetype >::get_output().

Referenced by navigator_t::report_data().

◆ getSlipAngle()

float AHRS_type::getSlipAngle ( ) const

inline

Definition at line 140 of file AHRS.h.

References pt2< datatype, basetype >::get_output().

Referenced by navigator_t::report_data().

◆ set_from_euler()

void AHRS_type::set_from_euler	(	float	r,
		float	n,
		float	y
	)

inline

Definition at line 72 of file AHRS.h.

References quaternion< datatype >::from_euler(), and quaternion< datatype >::get_rotation_matrix().

Referenced by navigator_t::set_attitude(), and navigator_t::set_from_euler().

◆ update()

void AHRS_type::update	(	const float3vector &	gyro,
		const float3vector &	acc,
		const float3vector &	mag,
		const float3vector &	GNSS_acceleration,
		float	GNSS_heading,
		bool	GNSS_heading_valid
	)

Definition at line 168 of file AHRS.cpp.

References update_compass().

Referenced by navigator_t::update_at_100Hz().

◆ update_ACC_only()

void AHRS_type::update_ACC_only	(	const float3vector &	gyro,
		const float3vector &	acc,
		const float3vector &	mag,
		const float3vector &	GNSS_acceleration
	)

rotate quaternion taking angular rate readings

update attitude from IMU data NOT using magnetometer of D-GNSS

Definition at line 387 of file AHRS.cpp.

References compass_calibration_t< sample_type, evaluation_type >::available(), compass_calibrator_3D::available(), compass_calibration_t< sample_type, evaluation_type >::calibrate(), compass_calibrator_3D::calibrate(), CROSS_GAIN, DOWN, EAST, I_GAIN, NORTH, P_GAIN, matrix< datatype, size >::reverse_map(), and STRAIGHT_FLIGHT.

◆ update_compass()

void AHRS_type::update_compass	(	const float3vector &	gyro,
		const float3vector &	acc,
		const float3vector &	mag,
		const float3vector &	GNSS_acceleration
	)

rotate quaternion taking angular rate readings

update attitude from IMU data and magnetometer

Definition at line 303 of file AHRS.cpp.

References vector< datatype, size >::abs(), compass_calibration_t< sample_type, evaluation_type >::available(), compass_calibrator_3D::available(), compass_calibration_t< sample_type, evaluation_type >::calibrate(), compass_calibrator_3D::calibrate(), CIRCLING, CROSS_GAIN, DOWN, EAST, I_GAIN, M_H_GAIN, NAV_CORRECTION_LIMIT, nav_induction, NORTH, P_GAIN, matrix< datatype, size >::reverse_map(), SQR, STRAIGHT_FLIGHT, and TRANSITION.

Referenced by update().

◆ update_magnetic_induction_data()

void AHRS_type::update_magnetic_induction_data	(	float	declination,
		float	inclination
	)

inline

Definition at line 55 of file AHRS.h.

References COS, DOWN, EAST, M_PI_F, NORTH, and SIN.

Referenced by navigator_t::update_magnetic_induction_data().

◆ write_calibration_into_EEPROM()

void AHRS_type::write_calibration_into_EEPROM ( void )

Definition at line 429 of file AHRS.cpp.

References lock_EEPROM(), and compass_calibration_t< sample_type, evaluation_type >::write_into_EEPROM().

Referenced by navigator_t::update_at_10Hz().

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

lib/NAV_Algorithms/AHRS.h
lib/NAV_Algorithms/AHRS.cpp

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ AHRS_type()

Member Function Documentation

◆ attitude_setup()

◆ get_attitude()

◆ get_body2nav()

◆ get_circling_state()

◆ get_cross_acc_correction()

◆ get_down()

◆ get_east()

◆ get_euler()

◆ get_G_load()

◆ get_gyro_correction() [1/2]

◆ get_gyro_correction() [2/2]

◆ get_nav_acceleration()

◆ get_nav_correction()

◆ get_nav_induction()

◆ get_north()

◆ get_orientation()

◆ get_turn_rate()

◆ getBodyInduction()

◆ getBodyInductionError()

◆ getGyro_correction_Power()

◆ getHeadingDifferenceAhrsDgnss()

◆ getMagneticDisturbance()

◆ getPitchAngle()

◆ getSlipAngle()

◆ set_from_euler()

◆ update()

◆ update_ACC_only()

◆ update_compass()

◆ update_magnetic_induction_data()

◆ write_calibration_into_EEPROM()