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Merged new EKF version

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Lorenz Meier
2012-10-16 11:10:09 +02:00
parent a720bfff5e
commit fef4362e79
41 changed files with 709 additions and 722 deletions
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apps/uORB/topics/sensor_combined.h
+18 -18
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@@ -77,33 +77,33 @@ struct sensor_combined_s {
/* NOTE: Ordering of fields optimized to align to 32 bit / 4 bytes Change with consideration only */
uint64_t timestamp; /**< Timestamp in microseconds since boot LOGME */
uint64_t timestamp; /**< Timestamp in microseconds since boot */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity LOGME */
uint16_t gyro_counter; /**< Number of raw measurments taken LOGME */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds LOGME */
int16_t gyro_raw[3]; /**< Raw sensor values of angular velocity */
uint16_t gyro_counter; /**< Number of raw measurments taken */
float gyro_rad_s[3]; /**< Angular velocity in radian per seconds */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame LOGME */
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken LOGME */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 LOGME */
int16_t accelerometer_raw[3]; /**< Raw acceleration in NED body frame */
uint32_t accelerometer_counter; /**< Number of raw acc measurements taken */
float accelerometer_m_s2[3]; /**< Acceleration in NED body frame, in m/s^2 */
int accelerometer_mode; /**< Accelerometer measurement mode */
float accelerometer_range_m_s2; /**< Accelerometer measurement range in m/s^2 */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame LOGME */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss LOGME */
int16_t magnetometer_raw[3]; /**< Raw magnetic field in NED body frame */
float magnetometer_ga[3]; /**< Magnetic field in NED body frame, in Gauss */
int magnetometer_mode; /**< Magnetometer measurement mode */
float magnetometer_range_ga; /**< ± measurement range in Gauss */
float magnetometer_cuttoff_freq_hz; /**< Internal analog low pass frequency of sensor */
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken LOGME */
uint32_t magnetometer_counter; /**< Number of raw mag measurements taken */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. LOGME */
float baro_alt_meter; /**< Altitude, already temp. comp. LOGME */
float baro_temp_celcius; /**< Temperature in degrees celsius LOGME */
float battery_voltage_v; /**< Battery voltage in volts, filtered LOGME */
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 LOGME */
uint32_t baro_counter; /**< Number of raw baro measurements taken LOGME */
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken LOGME */
bool battery_voltage_valid; /**< True if battery voltage can be measured LOGME */
float baro_pres_mbar; /**< Barometric pressure, already temp. comp. */
float baro_alt_meter; /**< Altitude, already temp. comp. */
float baro_temp_celcius; /**< Temperature in degrees celsius */
float battery_voltage_v; /**< Battery voltage in volts, filtered */
float adc_voltage_v[3]; /**< ADC voltages of ADC Chan 11/12/13 or -1 */
uint32_t baro_counter; /**< Number of raw baro measurements taken */
uint32_t battery_voltage_counter; /**< Number of voltage measurements taken */
bool battery_voltage_valid; /**< True if battery voltage can be measured */
};