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76 lines
2.3 KiB
76 lines
2.3 KiB
9 years ago
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/****************************************************************************
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*
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* Copyright (c) 2013 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file ekf.h
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* Definition of ekf attitude position estimator class.
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*
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* @author Roman Bast <bastroman@gmail.com>
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*
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*/
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#include "estimator_base.h"
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class Ekf : public EstimatorBase
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{
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public:
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Ekf();
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~Ekf();
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void update();
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private:
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bool _filter_initialised;
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bool _fuse_height; // true if there is new baro data
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bool _fuse_pos; // true if there is new position data from gps
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bool _fuse_vel; // true if there is new velocity data from gps
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bool initialiseFilter(void);
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void predictState();
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void predictCovariance();
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void fusePosVel();
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void fuseMag();
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void fuseAirspeed();
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void fuseRange();
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};
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