EKF: use namespace for structure definitions

will be moved to a separate file in the future

EKF/estimator_base.h

@@ -43,8 +43,8 @@
 #include <matrix/matrix/math.hpp>
 #include <lib/geo/geo.h>
 #include "RingBuffer.h"
-
+namespace estimator {
-struct gps_message {
+	struct gps_message {
 		uint64_t time_usec;
 	    int32_t lat;                // Latitude in 1E-7 degrees
 	    int32_t lon;                // Longitude in 1E-7 degrees
@@ -59,9 +59,62 @@ struct gps_message {
 	    bool vel_ned_valid;         // GPS ground speed is valid
 	    uint8_t nsats;              // number of satellites used
 	    float gdop;                 // geometric dilution of precision
-};
+	};
+
+	typedef matrix::Vector<float, 2> Vector2f;
+	typedef matrix::Vector<float, 3> Vector3f;
+	typedef matrix::Quaternion<float> Quaternion;
+	typedef matrix::Matrix<float, 3, 3> Matrix3f;
+
+	struct outputSample {
+		Quaternion  quat_nominal;
+		Vector3f    vel;
+		Vector3f    pos;
+		uint64_t 	time_us;
+	};
+
+	struct imuSample {
+		Vector3f    delta_ang;
+		Vector3f    delta_vel;
+		float       delta_ang_dt;
+		float       delta_vel_dt;
+		uint64_t    time_us;
+	};
 
-struct parameters {
+	struct gpsSample {
+		Vector2f    pos;
+		float       hgt;
+		Vector3f    vel;
+		uint64_t    time_us;
+	};
+
+	struct magSample {
+		Vector3f    mag;
+		uint64_t    time_us;
+	};
+
+	struct baroSample {
+		float       hgt;
+		uint64_t    time_us;
+	};
+
+	struct rangeSample {
+		float       rng;
+		uint64_t    time_us;
+	};
+
+	struct airspeedSample {
+		float       airspeed;
+		uint64_t    time_us;
+	};
+
+	struct flowSample {
+		Vector2f    flowRadXY;
+		Vector2f    flowRadXYcomp;
+		uint64_t    time_us;
+	};
+
+	struct parameters {
 		float mag_delay_ms = 0.0f;
 		float baro_delay_ms = 0.0f;
 		float gps_delay_ms = 200.0f;
@@ -101,10 +154,13 @@ struct parameters {
 	    float req_gdop = 2.0f;      // maximum acceptable geometric dilution of precision
 	    float req_hdrift = 0.3f;    // maximum acceptable horizontal drift speed
 	    float req_vdrift = 0.5f;    // maximum acceptable vertical drift speed
-};
+	};
+}
 
+using namespace estimator;
 class EstimatorBase
 {
+
 public:
 	EstimatorBase();
 	~EstimatorBase();
@@ -181,13 +237,44 @@ public:
     // set vehicle arm status data
     void set_arm_status(bool data){ _vehicle_armed = data; }
 
+	void printIMU(struct imuSample *data);
+	void printStoredIMU();
+	void printQuaternion(Quaternion &q);
+	void print_imu_avg_time();
+	void printMag(struct magSample *data);
+	void printStoredMag();
+	void printBaro(struct baroSample *data);
+	void printStoredBaro();
+	void printGps(struct gpsSample *data);
+	void printStoredGps();
 
-protected:
+	bool position_is_valid();
 
-	typedef matrix::Vector<float, 2> Vector2f;
+
-	typedef matrix::Vector<float, 3> Vector3f;
+	void copy_quaternion(float *quat)
-	typedef matrix::Quaternion<float> Quaternion;
+	{
-	typedef matrix::Matrix<float, 3, 3> Matrix3f;
+		for (unsigned i = 0; i < 4; i++) {
+			quat[i] = _output_new.quat_nominal(i);
+		}
+	}
+	void copy_velocity(float *vel)
+	{
+		for (unsigned i = 0; i < 3; i++) {
+			vel[i] = _output_new.vel(i);
+		}
+	}
+	void copy_position(float *pos)
+	{
+		for (unsigned i = 0; i < 3; i++) {
+			pos[i] = _output_new.pos(i);
+		}
+	}
+	void copy_timestamp(uint64_t *time_us)
+	{
+		*time_us = _imu_time_last;
+	}
+
+protected:
 
 	struct stateSample {
 		Vector3f    ang_error;
@@ -202,54 +289,6 @@ protected:
 		Quaternion  quat_nominal;
 	} _state;
 
-	struct outputSample {
-		Quaternion  quat_nominal;
-		Vector3f    vel;
-		Vector3f    pos;
-		uint64_t 	time_us;
-	};
-
-	struct imuSample {
-		Vector3f    delta_ang;
-		Vector3f    delta_vel;
-		float       delta_ang_dt;
-		float       delta_vel_dt;
-		uint64_t    time_us;
-	};
-
-	struct gpsSample {
-		Vector2f    pos;
-		float       hgt;
-		Vector3f    vel;
-		uint64_t    time_us;
-	};
-
-	struct magSample {
-		Vector3f    mag;
-		uint64_t    time_us;
-	};
-
-	struct baroSample {
-		float       hgt;
-		uint64_t    time_us;
-	};
-
-	struct rangeSample {
-		float       rng;
-		uint64_t    time_us;
-	};
-
-	struct airspeedSample {
-		float       airspeed;
-		uint64_t    time_us;
-	};
-
-	struct flowSample {
-		Vector2f    flowRadXY;
-		Vector2f    flowRadXYcomp;
-		uint64_t    time_us;
-	};
-
 	parameters _params;		// filter parameters
 
 	static const uint8_t OBS_BUFFER_LENGTH = 10;
@@ -317,43 +356,7 @@ protected:
 	} _fault_status;
 
 	void initialiseVariables(uint64_t timestamp);
-
-public:
-	void printIMU(struct imuSample *data);
-	void printStoredIMU();
-	void printQuaternion(Quaternion &q);
-	void print_imu_avg_time();
-	void printMag(struct magSample *data);
-	void printStoredMag();
-	void printBaro(struct baroSample *data);
-	void printStoredBaro();
-	void printGps(struct gpsSample *data);
-	void printStoredGps();
-
-	bool position_is_valid();
-
-	void copy_quaternion(float *quat)
-	{
-		for (unsigned i = 0; i < 4; i++) {
-			quat[i] = _output_new.quat_nominal(i);
-		}
-	}
-	void copy_velocity(float *vel)
-	{
-		for (unsigned i = 0; i < 3; i++) {
-			vel[i] = _output_new.vel(i);
-		}
-	}
-	void copy_position(float *pos)
-	{
-		for (unsigned i = 0; i < 3; i++) {
-			pos[i] = _output_new.pos(i);
-		}
-	}
-	void copy_timestamp(uint64_t *time_us)
-	{
-		*time_us = _imu_time_last;
-	}
     bool _vehicle_armed = false;     // vehicle arm status used to turn off funtionality used on the ground
 
+
 };