matlab/ins/insgps.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup AHRS
   4  * @{
   5  * @addtogroup INSGPS
   6  * @{
   7  * @brief INSGPS is a joint attitude and position estimation EKF
   8  *
   9  * @file       insgps.h
  10  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
  11  * @brief      Include file of the INSGPS exposed functionality.
  12  *
  13  * @see        The GNU Public License (GPL) Version 3
  14  *
  15  *****************************************************************************/
  16 /*
  17  * This program is free software; you can redistribute it and/or modify
  18  * it under the terms of the GNU General Public License as published by
  19  * the Free Software Foundation; either version 3 of the License, or
  20  * (at your option) any later version.
  21  *
  22  * This program is distributed in the hope that it will be useful, but
  23  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  24  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  25  * for more details.
  26  *
  27  * You should have received a copy of the GNU General Public License along
  28  * with this program; if not, write to the Free Software Foundation, Inc.,
  29  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  30  */
  31
  32 #ifndef INSGPS_H_
  33 #define INSGPS_H_
  34
  35 /**
  36   * @addtogroup Constants
  37   * @{
  38   */
  39 #define POS_SENSORS 0x007
  40 #define HORIZ_SENSORS 0x018
  41 #define VERT_SENSORS  0x020
  42 #define MAG_SENSORS 0x1C0
  43 #define BARO_SENSOR 0x200
  44
  45 #define FULL_SENSORS 0x3FF
  46
  47 /**
  48   * @}
  49   */
  50
  51 //  Exposed Function Prototypes
  52 void INSGPSInit();
  53 void INSStatePrediction(float gyro_data[3], float accel_data[3], float dT);
  54 void INSCovariancePrediction(float dT);
  55
  56 void INSSetPosVelVar(float PosVar);
  57 void INSSetGyroBias(float gyro_bias[3]);
  58 void INSSetAccelVar(float accel_var[3]);
  59 void INSSetGyroVar(float gyro_var[3]);
  60 void INSSetMagNorth(float B[3]);
  61 void INSSetMagVar(float scaled_mag_var[3]);
  62 void INSPosVelReset(float pos[3], float vel[3]);
  63
  64 void MagCorrection(float mag_data[3]);
  65 void BaroCorrection(float baro);
  66 void GpsCorrection(float Pos[3], float Vel[3]);
  67 void MagVelBaroCorrection(float mag_data[3], float Vel[3], float BaroAlt);
  68 void FullCorrection(float mag_data[3], float Pos[3], float Vel[3],
  69                     float BaroAlt);
  70 void GpsBaroCorrection(float Pos[3], float Vel[3], float BaroAlt);
  71 void GpsMagCorrection(float mag_data[3], float Pos[3], float Vel[2]);
  72 void VelBaroCorrection(float Vel[3], float BaroAlt);
  73
  74 /**
  75  * @}
  76  * @}
  77  */
  78
  79 #endif /* EKF_H_ */