Boardcore::NAS Class Reference

#include <NAS.h>

Public Member Functions
	NAS (const NASConfig &config)
void	predictAcc (const Eigen::Vector3f &acceleration)
	Prediction with accelerometer data.
void	predictAcc (const AccelerometerData &acceleration)
	Prediction with accelerometer data.
void	predictGyro (const Eigen::Vector3f &angularSpeed)
	Prediction with gyroscope data.
void	predictGyro (const GyroscopeData &angularSpeed)
	Prediction with gyroscope data.
void	correctBaro (const float pressure)
	Correction with barometer data.
void	correctGPS (const Eigen::Vector4f &gps)
	Correction with gps data.
void	correctGPS (const GPSData &gps)
	Correction with gps data only if fix is acquired.
void	correctMag (const Eigen::Vector3f &mag)
	Correction with magnetometer data.
void	correctMag (const MagnetometerData &mag)
	Correction with magnetometer data.
void	correctAcc (const Eigen::Vector3f &acc)
	Correction with accelerometer data.
void	correctAcc (const AccelerometerData &acc)
	Correction with accelerometer data.
void	correctPitot (const float staticPressure, const float dynamicPressure)
	Correction with pitot pressures.
NASState	getState () const
Eigen::Matrix< float, 13, 1 >	getX () const
void	setState (const NASState &state)
void	setX (const Eigen::Matrix< float, 13, 1 > &x)
void	setReferenceValues (const ReferenceValues &reference)
	Changes the reference values.
ReferenceValues	getReferenceValues ()
	Returns the current reference values.
void	resetCovariance ()
	Resets the covariance matrix to the initial state based on the configuration.

Static Public Attributes
static constexpr uint16_t	IDX_POS = 0
	< Index of position elements in the state.
static constexpr uint16_t	IDX_VEL = 3
	Index of quaternions elements in the state.
static constexpr uint16_t	IDX_QUAT = 6
	Index of bias elements in the state.
static constexpr uint16_t	IDX_BIAS = 10

Detailed Description

Definition at line 38 of file NAS.h.

Constructor & Destructor Documentation

NAS()

Boardcore::NAS::NAS ( const NASConfig &  config )

explicit

Definition at line 37 of file NAS.cpp.

Member Function Documentation

correctAcc() [1/2]

void Boardcore::NAS::correctAcc

(

const AccelerometerData &

acc

)

Correction with accelerometer data.

Parameters

u	Acceleration data [m/s^2].

Definition at line 312 of file NAS.cpp.

correctAcc() [2/2]

void Boardcore::NAS::correctAcc

(

const Eigen::Vector3f &

acc

)

Correction with accelerometer data.

Parameters

u	Normalized vector with acceleration data [x y z][m/s^2].

correctBaro()

void Boardcore::NAS::correctBaro

(

const float

pressure

)

Correction with barometer data.

Parameters

pressure

Pressure read from the barometer [Pa].

Definition at line 138 of file NAS.cpp.

correctGPS() [1/2]

void Boardcore::NAS::correctGPS

(

const Eigen::Vector4f &

gps

)

Correction with gps data.

Parameters

gps	Vector of the gps readings [n e vn ve][m m m/s m/s].

correctGPS() [2/2]

void Boardcore::NAS::correctGPS

(

const GPSData &

gps

)

Correction with gps data only if fix is acquired.

Parameters

gps

GPS data.

Definition at line 228 of file NAS.cpp.

correctMag() [1/2]

void Boardcore::NAS::correctMag

(

const Eigen::Vector3f &

mag

)

Correction with magnetometer data.

Parameters

mag	Normalized vector of the magnetometer readings [x y z][uT].

correctMag() [2/2]

void Boardcore::NAS::correctMag

(

const MagnetometerData &

mag

)

Correction with magnetometer data.

Parameters

mag	Magnetometer data [uT].

Definition at line 270 of file NAS.cpp.

correctPitot()

void Boardcore::NAS::correctPitot	(	const float	staticPressure,
		const float	dynamicPressure
	)

Correction with pitot pressures.

Warning

Do not call this function after apogee!

Parameters

staticPressure	Is the static pressure measured from the pitot sensor.
dynamicPressure	Is the dynamic pressure measured from the pitot sensor (difference pressure between total pressure and static pressure).

Definition at line 318 of file NAS.cpp.

getReferenceValues()

ReferenceValues Boardcore::NAS::getReferenceValues

(

)

Returns the current reference values.

Definition at line 480 of file NAS.cpp.

getState()

NASState Boardcore::NAS::getState

(

)

const

Returns

EKF state.

Definition at line 464 of file NAS.cpp.

getX()

Matrix< float, 13, 1 > Boardcore::NAS::getX

(

)

const

Returns

State vector [n e d vn ve vd qx qy qz qw bx by bz].

Definition at line 469 of file NAS.cpp.

predictAcc() [1/2]

void Boardcore::NAS::predictAcc

(

const AccelerometerData &

acceleration

)

Prediction with accelerometer data.

Parameters

acceleration

Accelerometer data [m/s^2].

Definition at line 97 of file NAS.cpp.

predictAcc() [2/2]

void Boardcore::NAS::predictAcc

(

const Eigen::Vector3f &

acceleration

)

Prediction with accelerometer data.

Parameters

acceleration

Vector with acceleration data [x y z][m/s^2].

predictGyro() [1/2]

void Boardcore::NAS::predictGyro

(

const Eigen::Vector3f &

angularSpeed

)

Prediction with gyroscope data.

Parameters

angularSpeed

Vector with angular velocity data [x y z][rad/s].

predictGyro() [2/2]

void Boardcore::NAS::predictGyro

(

const GyroscopeData &

angularSpeed

)

Prediction with gyroscope data.

Parameters

angularSpeed

Gyroscope data [rad/s].

Definition at line 132 of file NAS.cpp.

resetCovariance()

void Boardcore::NAS::resetCovariance

(

)

Resets the covariance matrix to the initial state based on the configuration.

Definition at line 482 of file NAS.cpp.

setReferenceValues()

void Boardcore::NAS::setReferenceValues

(

const ReferenceValues &

reference

)

Changes the reference values.

Definition at line 475 of file NAS.cpp.

setState()

void Boardcore::NAS::setState

(

const NASState &

state

)

Parameters

state

EKF state.

Definition at line 471 of file NAS.cpp.

setX()

void Boardcore::NAS::setX

(

const Eigen::Matrix< float, 13, 1 > &

x

)

Parameters

state

State vector [n e d vn ve vd qx qy qz qw bx by bz].

Definition at line 473 of file NAS.cpp.

Member Data Documentation

IDX_BIAS

constexpr uint16_t Boardcore::NAS::IDX_BIAS = 10

staticconstexpr

Definition at line 51 of file NAS.h.

IDX_POS

constexpr uint16_t Boardcore::NAS::IDX_POS = 0

staticconstexpr

< Index of position elements in the state.

Index of velocity elements in the state.

Definition at line 42 of file NAS.h.

IDX_QUAT

constexpr uint16_t Boardcore::NAS::IDX_QUAT = 6

staticconstexpr

Index of bias elements in the state.

Definition at line 48 of file NAS.h.

IDX_VEL

constexpr uint16_t Boardcore::NAS::IDX_VEL = 3

staticconstexpr

Index of quaternions elements in the state.

Definition at line 45 of file NAS.h.

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The documentation for this class was generated from the following files:

• src/shared/algorithms/NAS/NAS.h
• src/shared/algorithms/NAS/NAS.cpp