#include <NASConfig.h>

Public Attributes
float	T
	[s] Sample period

float	SIGMA_BETA
	[rad/s^2] Estimated gyroscope bias variance

float	SIGMA_W
	[rad] Estimated gyroscope variance

float	SIGMA_ACC
	[m/s^2] Estimated accelerometer variance

float	SIGMA_MAG
	[uT] Estimated magnetometer variance

Eigen::Vector4f	SIGMA_GPS

float	SIGMA_BAR
	[Pa] Estimated altitude variance

float	SIGMA_POS
	[m] Estimated variance of the position noise

float	SIGMA_VEL
	[m/s] Estimated variance of the velocity noise

float	SIGMA_PITOT
	[Pa] Estimated variance of the pitot velocity

float	P_POS
	Position prediction covariance horizontal.

float	P_POS_VERTICAL
	Position prediction covariance vertical.

float	P_VEL
	Velocity prediction covariance horizontal.

float	P_VEL_VERTICAL
	Velocity prediction covariance vertical.

float	P_ATT
	Attitude prediction covariance.

float	P_BIAS
	Bias prediction covariance.

float	SATS_NUM = 6.0f
	Number of satellites used at setup time.

Eigen::Vector3f	NED_MAG
	Normalized magnetic field vector in NED frame.

Detailed Description

Definition at line 30 of file NASConfig.h.

Member Data Documentation

◆ NED_MAG

Eigen::Vector3f Boardcore::NASConfig::NED_MAG

Normalized magnetic field vector in NED frame.

Definition at line 56 of file NASConfig.h.

◆ P_ATT

float Boardcore::NASConfig::P_ATT

Attitude prediction covariance.

Definition at line 51 of file NASConfig.h.

◆ P_BIAS

float Boardcore::NASConfig::P_BIAS

Bias prediction covariance.

Definition at line 52 of file NASConfig.h.

◆ P_POS

float Boardcore::NASConfig::P_POS

Position prediction covariance horizontal.

Definition at line 45 of file NASConfig.h.

◆ P_POS_VERTICAL

float Boardcore::NASConfig::P_POS_VERTICAL

Position prediction covariance vertical.

Definition at line 46 of file NASConfig.h.

◆ P_VEL

float Boardcore::NASConfig::P_VEL

Velocity prediction covariance horizontal.

Definition at line 48 of file NASConfig.h.

◆ P_VEL_VERTICAL

float Boardcore::NASConfig::P_VEL_VERTICAL

Velocity prediction covariance vertical.

Definition at line 49 of file NASConfig.h.

◆ SATS_NUM

float Boardcore::NASConfig::SATS_NUM = 6.0f

Number of satellites used at setup time.

Definition at line 54 of file NASConfig.h.

◆ SIGMA_ACC

float Boardcore::NASConfig::SIGMA_ACC

[m/s^2] Estimated accelerometer variance

Definition at line 35 of file NASConfig.h.

◆ SIGMA_BAR

float Boardcore::NASConfig::SIGMA_BAR

[Pa] Estimated altitude variance

Definition at line 40 of file NASConfig.h.

◆ SIGMA_BETA

float Boardcore::NASConfig::SIGMA_BETA

[rad/s^2] Estimated gyroscope bias variance

Definition at line 33 of file NASConfig.h.

◆ SIGMA_GPS

Eigen::Vector4f Boardcore::NASConfig::SIGMA_GPS

[millideg, millideg, m/s, m/s] estimated GPS variance. position from test, velocity from datasheet

Definition at line 37 of file NASConfig.h.

◆ SIGMA_MAG

float Boardcore::NASConfig::SIGMA_MAG

[uT] Estimated magnetometer variance

Definition at line 36 of file NASConfig.h.

◆ SIGMA_PITOT

float Boardcore::NASConfig::SIGMA_PITOT

[Pa] Estimated variance of the pitot velocity

Definition at line 43 of file NASConfig.h.

◆ SIGMA_POS

float Boardcore::NASConfig::SIGMA_POS

[m] Estimated variance of the position noise

Definition at line 41 of file NASConfig.h.

◆ SIGMA_VEL

float Boardcore::NASConfig::SIGMA_VEL

[m/s] Estimated variance of the velocity noise

Definition at line 42 of file NASConfig.h.

◆ SIGMA_W

float Boardcore::NASConfig::SIGMA_W

[rad] Estimated gyroscope variance

Definition at line 34 of file NASConfig.h.

◆ T

float Boardcore::NASConfig::T

[s] Sample period

Definition at line 32 of file NASConfig.h.

The documentation for this struct was generated from the following file:

src/shared/algorithms/NAS/NASConfig.h

Public Attributes