Larus glider flight sensor system: navigator_t Class Reference

Larus glider flight sensor system 3.9.2024

Software-In-The-Loop test and validation system

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organizes horizontal navigation, wind observation and variometer More...

#include <navigator.h>

Public Member Functions
	navigator_t (void)

void	update_magnetic_induction_data (float declination, float inclination)

void	set_density_data (float temperature, float humidity)

void	initialize_QFF_density_metering (float MSL_altitude)

void	feed_QFF_density_metering (float pressure, float MSL_altitude)

void	disregard_density_data (void)

void	report_data (output_data_t &d)
	copy all navigator data into output_data structure

void	set_from_add_mag (const float3vector &acc, const float3vector &mag)

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

void	update_pressure (float pressure)
	update absolute pressure called @ 100 Hz

void	reset_altitude (void)

void	update_pitot (float pressure)
	update pitot pressure called @ 100 Hz

void	update_at_100Hz (const float3vector &acc, const float3vector &mag, const float3vector &gyro)
	update AHRS from IMU

bool	update_at_10Hz ()
	slow update flight observer data

void	update_GNSS_data (const coordinates_t &coordinates)
	update on new navigation data from GNSS

void	set_attitude (float roll, float nick, float yaw)
	return aggregate flight observer

float	get_IAS (void) const

Detailed Description

organizes horizontal navigation, wind observation and variometer

Definition at line 41 of file navigator.h.

Constructor & Destructor Documentation

◆ navigator_t()

navigator_t::navigator_t ( void )

inline

Definition at line 44 of file navigator.h.

Member Function Documentation

◆ disregard_density_data()

void navigator_t::disregard_density_data ( void )

inline

Definition at line 95 of file navigator.h.

References atmosphere_t::disregard_ambient_air_data().

Referenced by organizer_t::disregard_density_data().

◆ feed_QFF_density_metering()

void navigator_t::feed_QFF_density_metering	(	float	pressure,
		float	MSL_altitude
	)

inline

Definition at line 90 of file navigator.h.

References atmosphere_t::feed_QFF_density_metering().

Referenced by organizer_t::update_every_100ms().

◆ get_IAS()

float navigator_t::get_IAS ( void ) const

inline

Definition at line 190 of file navigator.h.

◆ initialize_QFF_density_metering()

void navigator_t::initialize_QFF_density_metering ( float MSL_altitude )

inline

Definition at line 85 of file navigator.h.

References atmosphere_t::initialize().

Referenced by organizer_t::initialize_after_first_measurement().

◆ report_data()

void navigator_t::report_data ( output_data_t & d )

copy all navigator data into output_data structure

Definition at line 110 of file navigator.cpp.

References EAST, AHRS_type::get_attitude(), wind_oberserver_t::get_average_value(), AHRS_type::get_circling_state(), wind_oberserver_t::get_corrected_wind(), wind_oberserver_t::get_crosswind(), atmosphere_t::get_density(), variometer_t::get_effective_vertical_acceleration(), AHRS_type::get_euler(), AHRS_type::get_G_load(), AHRS_type::get_gyro_correction(), wind_oberserver_t::get_headwind(), wind_oberserver_t::get_instant_value(), wind_oberserver_t::get_measurement(), AHRS_type::get_nav_acceleration(), AHRS_type::get_nav_correction(), AHRS_type::get_nav_induction(), atmosphere_t::get_negative_altitude(), pt2< datatype, basetype >::get_output(), soaring_flight_averager< value_t, CLAMP_OUTPUT_FIRST_CIRCLE, SOFT_TAKEOFF >::get_output(), atmosphere_t::get_QFF(), variometer_t::get_speed_compensation(), variometer_t::get_speed_compensation_GNSS(), variometer_t::get_speed_compensation_IAS(), wind_oberserver_t::get_speed_compensator_wind(), AHRS_type::get_turn_rate(), variometer_t::get_vario_GNSS(), variometer_t::get_vario_pressure(), variometer_t::get_vario_uncompensated_GNSS(), AHRS_type::getBodyInduction(), AHRS_type::getBodyInductionError(), AHRS_type::getGyro_correction_Power(), AHRS_type::getHeadingDifferenceAhrsDgnss(), AHRS_type::getMagneticDisturbance(), AHRS_type::getPitchAngle(), AHRS_type::getSlipAngle(), and NORTH.

Referenced by organizer_t::report_data().

◆ reset_altitude()

void navigator_t::reset_altitude ( void )

inline

Definition at line 120 of file navigator.h.

References atmosphere_t::get_negative_altitude(), and variometer_t::reset().

Referenced by organizer_t::initialize_after_first_measurement().

◆ set_attitude()

void navigator_t::set_attitude	(	float	roll,
		float	nick,
		float	yaw
	)

inline

return aggregate flight observer

Definition at line 182 of file navigator.h.

References AHRS_type::set_from_euler().

Referenced by organizer_t::initialize_after_first_measurement(), and organizer_t::set_attitude().

◆ set_density_data()

void navigator_t::set_density_data	(	float	temperature,
		float	humidity
	)

inline

Definition at line 78 of file navigator.h.

References CLIP(), atmosphere_t::disregard_ambient_air_data(), and atmosphere_t::set_ambient_air_data().

Referenced by organizer_t::set_density_data().

◆ set_from_add_mag()

void navigator_t::set_from_add_mag	(	const float3vector &	acc,
		const float3vector &	mag
	)

inline

Definition at line 102 of file navigator.h.

References AHRS_type::attitude_setup().

Referenced by organizer_t::initialize_after_first_measurement().

◆ set_from_euler()

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

inline

Definition at line 106 of file navigator.h.

References AHRS_type::set_from_euler().

◆ update_at_100Hz()

void navigator_t::update_at_100Hz	(	const float3vector &	acc,
		const float3vector &	mag,
		const float3vector &	gyro
	)

update AHRS from IMU

to be called @ 100 Hz, triggers all fast calculations, especially AHRS attitude data and fast flight-observer stuff

Definition at line 28 of file navigator.cpp.

References DOWN, EAST, AHRS_type::get_down(), AHRS_type::get_east(), AHRS_type::get_nav_acceleration(), atmosphere_t::get_negative_altitude(), AHRS_type::get_north(), wind_oberserver_t::get_speed_compensator_wind(), NORTH, wind_oberserver_t::process_at_100_Hz(), SAT_FIX, SAT_HEADING, AHRS_type::update(), and variometer_t::update_at_100Hz().

Referenced by organizer_t::update_every_10ms().

◆ update_at_10Hz()

bool navigator_t::update_at_10Hz ( )

slow update flight observer data

to be called @ 10 Hz calculate wind data and vario average for "vario integrator"

Returns: true if a landing has just been detected

Definition at line 85 of file navigator.cpp.

References AIRBORNE_TRIGGER_SPEED, airborne_detector_t::detect_just_landed(), atmosphere_t::feed_QFF_density_metering(), AHRS_type::get_circling_state(), AHRS_type::get_euler(), variometer_t::get_filtered_GNSS_altitude(), pt2< datatype, basetype >::get_output(), variometer_t::get_speed_compensation_GNSS(), variometer_t::get_vario_GNSS(), wind_oberserver_t::process_at_10_Hz(), airborne_detector_t::report_to_be_airborne(), soaring_flight_averager< value_t, CLAMP_OUTPUT_FIRST_CIRCLE, SOFT_TAKEOFF >::update(), atmosphere_t::update_density_correction(), AHRS_type::write_calibration_into_EEPROM(), and eulerangle< datatype >::y.

Referenced by organizer_t::update_every_100ms().

◆ update_GNSS_data()

void navigator_t::update_GNSS_data ( const coordinates_t & coordinates )

update on new navigation data from GNSS

to be called @ 50 .. 100 Hz (GNSS-dependent) set new position fix etc.

Definition at line 62 of file navigator.cpp.

References coordinates_t::acceleration, DOWN, coordinates_t::position, coordinates_t::relPosHeading, SAT_FIX_NONE, coordinates_t::sat_fix_type, coordinates_t::speed_motion, and coordinates_t::velocity.

Referenced by organizer_t::update_GNSS_data().

◆ update_magnetic_induction_data()

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

inline

Definition at line 70 of file navigator.h.

References AHRS_type::update_magnetic_induction_data().

Referenced by organizer_t::update_magnetic_induction_data().

◆ update_pitot()

void navigator_t::update_pitot ( float pressure )

inline

update pitot pressure called @ 100 Hz

Calculate actual TAS and IAS from pitot pressure and density

Definition at line 130 of file navigator.h.

References atmosphere_t::get_IAS_from_dynamic_pressure(), atmosphere_t::get_TAS_from_dynamic_pressure(), pt2< datatype, basetype >::respond(), and pt2< datatype, basetype >::settle().

Referenced by organizer_t::on_new_pressure_data().

◆ update_pressure()

void navigator_t::update_pressure ( float pressure )

inline

update absolute pressure called @ 100 Hz

Definition at line 114 of file navigator.h.

References pt2< datatype, basetype >::respond(), and atmosphere_t::set_pressure().

Referenced by organizer_t::initialize_after_first_measurement(), and organizer_t::on_new_pressure_data().

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

lib/NAV_Algorithms/navigator.h
lib/NAV_Algorithms/navigator.cpp

navigator_t
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