flight/modules/StateEstimation/inc/stateestimation.h

   1 /**
   2  ******************************************************************************
   3  * @addtogroup OpenPilotModules OpenPilot Modules
   4  * @{
   5  * @addtogroup StateSetimation Module
   6  * @{
   7  *
   8  * @file       stateestimation.h
   9  * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2011.
  10  * @brief      Acquires sensor data and fuses it into attitude estimate for CC
  11  *
  12  * @see        The GNU Public License (GPL) Version 3
  13  *
  14  *****************************************************************************/
  15 /*
  16  * This program is free software; you can redistribute it and/or modify
  17  * it under the terms of the GNU General Public License as published by
  18  * the Free Software Foundation; either version 3 of the License, or
  19  * (at your option) any later version.
  20  *
  21  * This program is distributed in the hope that it will be useful, but
  22  * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
  23  * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
  24  * for more details.
  25  *
  26  * You should have received a copy of the GNU General Public License along
  27  * with this program; if not, write to the Free Software Foundation, Inc.,
  28  * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
  29  */
  30 #ifndef STATEESTIMATION_H
  31 #define STATEESTIMATION_H
  32
  33 #include <openpilot.h>
  34
  35
  36 // Enumeration for filter result
  37 typedef enum {
  38     FILTERRESULT_UNINITIALISED = -1,
  39     FILTERRESULT_OK       = 0,
  40     FILTERRESULT_WARNING  = 1,
  41     FILTERRESULT_CRITICAL = 2,
  42     FILTERRESULT_ERROR    = 3,
  43 } filterResult;
  44
  45
  46 typedef enum {
  47     SENSORUPDATES_gyro         = 1 << 0,
  48         SENSORUPDATES_accel    = 1 << 1,
  49         SENSORUPDATES_mag      = 1 << 2,
  50         SENSORUPDATES_boardMag = 1 << 10,
  51         SENSORUPDATES_auxMag   = 1 << 9,
  52         SENSORUPDATES_attitude = 1 << 3,
  53         SENSORUPDATES_pos      = 1 << 4,
  54         SENSORUPDATES_vel      = 1 << 5,
  55         SENSORUPDATES_airspeed = 1 << 6,
  56         SENSORUPDATES_baro     = 1 << 7,
  57         SENSORUPDATES_lla      = 1 << 8,
  58 } sensorUpdates;
  59
  60 #define MAGSTATUS_OK      1
  61 #define MAGSTATUS_AUX     2
  62 #define MAGSTATUS_INVALID 0
  63 typedef struct {
  64     float   gyro[3];
  65     float   accel[3];
  66     float   mag[3];
  67     float   attitude[4];
  68     float   pos[3];
  69     float   vel[3];
  70     float   airspeed[2];
  71     float   baro[1];
  72     float   auxMag[3];
  73     uint8_t magStatus;
  74     float   boardMag[3];
  75     sensorUpdates updated;
  76 } stateEstimation;
  77
  78 typedef struct stateFilterStruct {
  79     int32_t (*init)(struct stateFilterStruct *self);
  80     filterResult (*filter)(struct stateFilterStruct *self, stateEstimation *state);
  81     void *localdata;
  82 } stateFilter;
  83
  84
  85 int32_t filterMagInitialize(stateFilter *handle);
  86 int32_t filterBaroiInitialize(stateFilter *handle);
  87 int32_t filterBaroInitialize(stateFilter *handle);
  88 int32_t filterVelocityInitialize(stateFilter *handle);
  89 int32_t filterAltitudeInitialize(stateFilter *handle);
  90 int32_t filterAirInitialize(stateFilter *handle);
  91 int32_t filterStationaryInitialize(stateFilter *handle);
  92 int32_t filterLLAInitialize(stateFilter *handle);
  93 int32_t filterCFInitialize(stateFilter *handle);
  94 int32_t filterCFMInitialize(stateFilter *handle);
  95 int32_t filterEKF13iInitialize(stateFilter *handle);
  96 int32_t filterEKF13Initialize(stateFilter *handle);
  97 int32_t filterEKF16iInitialize(stateFilter *handle);
  98 int32_t filterEKF16Initialize(stateFilter *handle);
  99
 100 #endif // STATEESTIMATION_H