KalmanVario_PVA_t Class Reference

Kalman-filter-based sensor fusion observer. More...

#include <KalmanVario_PVA.h>

Public Member Functions
	KalmanVario_PVA_t (float _x=ZERO, float v=ZERO, float a=ZERO, float a_offset=ZERO)
void	reset (const float altitude, const float acceleration_offset)
float	update (const float altitude, const float velocity, const float acceleration)
float	get_x (state index) const

Public Attributes
typedef	enum

Detailed Description

Kalman-filter-based sensor fusion observer.

Blend vertical acceleration inclusive gravity with GNSS position and speed data to provide UN-compensated variometer plus vertical net acceleration w/o gravity

Definition at line 40 of file KalmanVario_PVA.h.

Constructor & Destructor Documentation

KalmanVario_PVA_t()

KalmanVario_PVA_t::KalmanVario_PVA_t ( float  _x = ZERO, float  v = ZERO, float  a = ZERO, float  a_offset = ZERO  )

inline

Definition at line 63 of file KalmanVario_PVA.h.

Member Function Documentation

get_x()

float KalmanVario_PVA_t::get_x ( state  index ) const

inline

Definition at line 77 of file KalmanVario_PVA.h.

Referenced by variometer_t::get_effective_vertical_acceleration(), variometer_t::get_filtered_GNSS_altitude(), and variometer_t::update_at_100Hz().

reset()

void KalmanVario_PVA_t::reset ( const float  altitude, const float  acceleration_offset  )

inline

Definition at line 67 of file KalmanVario_PVA.h.

Referenced by variometer_t::reset().

update()

float KalmanVario_PVA_t::update	(	const float	altitude,
		const float	velocity,
		const float	acceleration
	)

Definition at line 35 of file KalmanVario_PVA.cpp.

Referenced by variometer_t::update_at_100Hz().

Member Data Documentation

enum

typedef KalmanVario_PVA_t::enum

Initial value:

{
    ALTITUDE, VARIO, ACCELERATION_OBSERVED, ACCELERATION_OFFSET
  }  state

Definition at line 58 of file KalmanVario_PVA.h.

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

• lib/NAV_Algorithms/KalmanVario_PVA.h
• lib/NAV_Algorithms/KalmanVario_PVA.cpp