mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF : Update comments and remove un-used function declarations
This commit is contained in:
Paul Riseborough
Andrew Tridgell
parent
db48ed9218
commit
35811758d7
File diff suppressed because it is too large
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@ -75,8 +75,8 @@ public:
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// Constructor
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NavEKF(const AP_AHRS *ahrs, AP_Baro &baro);
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// Initialise the filter states from the AHRS and magnetometer data (if present)
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// This method can be used when the vehicle is moving
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// This function is used to initialise the filter whilst moving, using the AHRS DCM solution
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// It should NOT be used to re-initialise after a timeout as DCM will also be corrupted
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void InitialiseFilterDynamic(void);
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// Initialise the states from accelerometer and magnetometer data (if present)
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@ -86,7 +86,7 @@ public:
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// Update Filter States - this should be called whenever new IMU data is available
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void UpdateFilter(void);
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// return true if the filter is healthy
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// Check basic filter health metrics and return a consolidated health status
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bool healthy(void) const;
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// return true if filter is dead-reckoning height
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@ -95,33 +95,26 @@ public:
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// return true if filter is dead-reckoning position
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bool PositionDrifting(void) const;
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// fill in latitude, longitude and height of the reference point
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void getRefLLH(struct Location &loc) const;
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// set latitude, longitude and height of the reference point
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void setRefLLH(int32_t lat, int32_t lng, int32_t alt_cm);
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// return the last calculated NED position relative to the
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// reference point (m). Return false if no position is available
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// return the last calculated NED position relative to the reference point (m).
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// return false if no position is available
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bool getPosNED(Vector3f &pos) const;
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// return NED velocity in m/s
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void getVelNED(Vector3f &vel) const;
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// return bodyaxis gyro bias estimates in deg/hr
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// return body axis gyro bias estimates in rad/sec
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void getGyroBias(Vector3f &gyroBias) const;
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// return body axis accelerometer bias estimates in m/s^2
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// return weighting of first IMU in blending function and the individual Z-accel bias estimates in m/s^2
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void getAccelBias(Vector3f &accelBias) const;
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// return the NED wind speed estimates in m/s
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// positive is air moving in the direction of the corresponding axis
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// return the NED wind speed estimates in m/s (positive is air moving in the direction of the axis)
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void getWind(Vector3f &wind) const;
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// return earth magnetic field estimates in measurement units
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// return earth magnetic field estimates in measurement units / 1000
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void getMagNED(Vector3f &magNED) const;
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// return body magnetic field estimates in measurement units
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// return body magnetic field estimates in measurement units / 1000
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void getMagXYZ(Vector3f &magXYZ) const;
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// return the last calculated latitude, longitude and height
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@ -130,13 +123,10 @@ public:
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// return the Euler roll, pitch and yaw angle in radians
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void getEulerAngles(Vector3f &eulers) const;
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// get the transformation matrix from NED to XYD (body) axes
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void getRotationNEDToBody(Matrix3f &mat) const;
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// get the transformation matrix from XYZ (body) to NED axes
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// return the transformation matrix from XYZ (body) to NED axes
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void getRotationBodyToNED(Matrix3f &mat) const;
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// get the quaternions defining the rotation from NED to XYZ (body) axes
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// return the quaternions defining the rotation from NED to XYZ (body) axes
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void getQuaternion(Quaternion &quat) const;
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// return the innovations for the NED Pos, NED Vel, XYZ Mag and Vtas measurements
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@ -163,7 +153,7 @@ private:
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// copy covariances across from covariance prediction calculation and fix numerical errors
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void CopyAndFixCovariances();
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// constrain variances (diagonal terms) on the state covariance matrix
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// constrain variances (diagonal terms) in the state covariance matrix
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void ConstrainVariances();
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// constrain states
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@ -178,7 +168,7 @@ private:
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// fuse true airspeed measurements
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void FuseAirspeed();
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// fuse sideslip measurements
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// fuse sythetic sideslip measurement of zero
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void FuseSideslip();
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// zero specified range of rows in the state covariance matrix
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@ -187,9 +177,6 @@ private:
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// zero specified range of columns in the state covariance matrix
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void zeroCols(Matrix22 &covMat, uint8_t first, uint8_t last);
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// normalise the quaternion states
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void quatNorm(Quaternion &quatOut, const Quaternion &quatIn) const;
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// store states along with system time stamp in msces
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void StoreStates(void);
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@ -202,13 +189,10 @@ private:
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// calculate nav to body quaternions from body to nav rotation matrix
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void quat2Tbn(Matrix3f &Tbn, const Quaternion &quat) const;
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// calculate the earth spin vector in NED axes
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// calculate the NED earth spin vector in rad/sec
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void calcEarthRateNED(Vector3f &omega, int32_t latitude) const;
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// calculate a NED velocity vector from GPS speed, course and down velocity
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void calcvelNED(Vector3f &velNED, float gpsCourse, float gpsGndSpd, float gpsVelD) const;
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// calculate from height, airspeed and ground speed whether the flight vehicle is on the ground or flying
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// calculate whether the flight vehicle is on the ground or flying from height, airspeed and GPS speed
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void OnGroundCheck();
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// initialise the covariance matrix
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@ -232,9 +216,6 @@ private:
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// determine when to perform fusion of GPS position and velocity measurements
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void SelectVelPosFusion();
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// determine when to perform fusion of height measurements
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void SelectHgtFusion();
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// determine when to perform fusion of true airspeed measurements
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void SelectTasFusion();
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@ -262,7 +243,9 @@ private:
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// return true if we should use the airspeed sensor
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bool useAirspeed(void) const;
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// check if static mode has been demanded by vehicle code
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// return true if the vehicle code has requested use of static mode
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// in static mode, position and height are constrained to zero, allowing an attitude
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// reference to be initialised and maintained when on the ground and without GPS lock
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bool static_mode_demanded(void) const;
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private:
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