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Kalman filter for sonar readings. Provides surface rate velocity (currently unused)

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Konstantin Sharlaimov (DigitalEntity) 2015-11-18 14:13:13 +10:00
parent fb5c13fefa
commit 0f417d5246
3 changed files with 34 additions and 16 deletions
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3
src/main/flight/navigation_rewrite_private.h
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@ -107,6 +107,7 @@ typedef struct {
float sinYaw;
float cosYaw;
float surface;
float surfaceVel;
} navigationEstimatedState_t;
typedef struct {
@ -275,7 +276,7 @@ int16_t leanAngleToRcCommand(int16_t leanAngle);
void updateActualHeading(int32_t newHeading);
void updateActualHorizontalPositionAndVelocity(bool hasValidSensor, float newX, float newY, float newVelX, float newVelY);
void updateActualAltitudeAndClimbRate(bool hasValidSensor, float newAltitude, float newVelocity);
void updateActualSurfaceDistance(bool hasValidSensor, float surfaceDistance);
void updateActualSurfaceDistance(bool hasValidSensor, float surfaceDistance, float surfaceVelocity);
/* Autonomous navigation functions */
void setupAutonomousControllerRTH(void);