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Constants ¶
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const Port = 8000
Variables ¶
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Functions ¶
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Types ¶
type AHRSData ¶
type AHRSData struct { // Kalman state variables U1, U2, U3 float64 // Vector for airspeed, aircraft frame, kt Z1, Z2, Z3 float64 // Vector for rate of change of airspeed, aircraft frame, G E0, E1, E2, E3 float64 // Quaternion rotating earth frame to aircraft frame H1, H2, H3 float64 // Vector for gyro rates, earth frame, °/s N1, N2, N3 float64 // Vector for earth's magnetic field, earth (inertial) frame, µT V1, V2, V3 float64 // (Bias) Vector for windspeed, earth frame, kt C1, C2, C3 float64 // Bias vector for accelerometer, sensor frame, G F0, F1, F2, F3 float64 // (Bias) quaternion rotating sensor frame to aircraft frame D1, D2, D3 float64 // Bias vector for gyro rates, sensor frame, °/s L1, L2, L3 float64 // Bias vector for magnetometer direction, sensor frame, µT // Kalman state uncertainties DU1, DU2, DU3 float64 // Vector for airspeed, aircraft frame, kt DZ1, DZ2, DZ3 float64 // Vector for rate of change of airspeed, aircraft frame, G DE0, DE1, DE2, DE3 float64 // Quaternion rotating earth frame to aircraft frame DH1, DH2, DH3 float64 // Vector for gyro rates, earth frame, °/s DN1, DN2, DN3 float64 // Vector for earth's magnetic field, earth (inertial) frame, µT DV1, DV2, DV3 float64 // (Bias) Vector for windspeed, earth frame, kt DC1, DC2, DC3 float64 // Bias vector for accelerometer, sensor frame, G DF0, DF1, DF2, DF3 float64 // (Bias) quaternion rotating sensor frame to aircraft frame DD1, DD2, DD3 float64 // Bias vector for gyro rates, sensor frame, °/s DL1, DL2, DL3 float64 // Bias vector for magnetometer direction, sensor frame, µT // Measurement variables UValid, WValid, SValid, MValid bool // Do we have valid airspeed, GPS, accel/gyro, and magnetometer readings? S1, S2, S3 float64 // Vector of airspeeds W1, W2, W3 float64 // Vector of GPS speed in N/S, E/W and U/D directions, kt, latlong axes, earth (inertial) frame A1, A2, A3 float64 // Vector holding accelerometer readings, G, aircraft (accelerated) frame B1, B2, B3 float64 // Vector of gyro rates in roll, pitch, heading axes, °/s, aircraft (accelerated) frame M1, M2, M3 float64 // Vector of magnetometer readings, µT, aircraft (accelerated) frame T float64 // Timestamp of GPS, airspeed and magnetometer readings // Final output Pitch, Roll, Heading float64 }
type KalmanListener ¶
type KalmanListener struct {
// contains filtered or unexported fields
}
func NewKalmanListener ¶
func NewKalmanListener() (kl *KalmanListener, err error)
func (*KalmanListener) Close ¶
func (kl *KalmanListener) Close()
func (*KalmanListener) Send ¶
func (kl *KalmanListener) Send(s *ahrs.State, m *ahrs.Measurement) error
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