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AP_NavEKF: Updated comments for private functions

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Paul Riseborough 2014-01-29 17:58:54 +11:00 committed by Andrew Tridgell
parent deb64c4cbd
commit c20fac1269
1 changed files with 30 additions and 2 deletions
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32
libraries/AP_NavEKF/AP_NavEKF.h
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@ -154,26 +154,37 @@ private:
const AP_AHRS *_ahrs;
AP_Baro &_baro;
// update the quaternion, velocity and position states using IMU measurements
void UpdateStrapdownEquationsNED();
// calculate the predicted state covariance matrix
void CovariancePrediction();
// force symmetry on the state covariance matrix
void ForceSymmetry();
// constrain variances (diagonal terms) on the state covariance matrix
void ConstrainVariances();
// constrain states
void ConstrainStates();
// fuse selected position, velocity and height measurements
void FuseVelPosNED();
// fuse magnetometer measurements
void FuseMagnetometer();
// fuse true airspeed measurements
void FuseAirspeed();
// zero specified range of rows in the state covariance matrix
void zeroRows(Matrix22 &covMat, uint8_t first, uint8_t last);
// zero specified range of columns in the state covariance matrix
void zeroCols(Matrix22 &covMat, uint8_t first, uint8_t last);
// normalise the quaternion states
void quatNorm(Quaternion &quatOut, const Quaternion &quatIn) const;
// store states along with system time stamp in msces
@ -182,44 +193,61 @@ private:
// recall state vector stored at closest time to the one specified by msec
void RecallStates(Vector22 &statesForFusion, uint32_t msec);
// calculate nav to body quaternions from body to nav rotation matrix
void quat2Tbn(Matrix3f &Tbn, const Quaternion &quat) const;
// calculate the earth spin vector in NED axes
void calcEarthRateNED(Vector3f &omega, int32_t latitude) const;
// calculate a NED velocity vector from GPS speed, course and down velocity
void calcvelNED(Vector3f &velNED, float gpsCourse, float gpsGndSpd, float gpsVelD) const;
void calcllh(float &lat, float &lon, float &hgt) const;
// calculate from height, airspeed and ground speed whether the flight vehicle is on the ground or flying
void OnGroundCheck();
// initialise the covariance matrix
void CovarianceInit(float roll, float pitch, float yaw);
// update IMU delta angle and delta velocity measurements
void readIMUData();
// check for new valid GPS data and update stored measurement if available
void readGpsData();
// check for new altitude measurement data and update stored measurement if available
void readHgtData();
// check for new magnetometer data and update store measurements if available
void readMagData();
// check for new airspeed data and update stored measurements if available
void readAirSpdData();
// determine when to perform fusion of GPS position and velocity measurements
void SelectVelPosFusion();
// determine when to perform fusion of height measurements
void SelectHgtFusion();
// determine when to perform fusion of true airspeed measurements
void SelectTasFusion();
// determine when to perform fusion of magnetometer measurements
void SelectMagFusion();
// force alignment of the yaw angle using GPS velocity data
void ForceYawAlignment();
// zero stored variables
void ZeroVariables();
// reset the horizontal position states uing the last GPS measurement
void ResetPosition(void);
// reset velocity states using the last GPS measurement
void ResetVelocity(void);
// reset the vertical position state using the last height measurement
void ResetHeight(void);