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aris-euler-state-estimation

Usage

The following steps need to be taken to use the state estimation:

  1. Include headers Define either EULER_SIMCON for Simulations & Control, EULER_AV or EULER_REC to tune the includes and typedefinitions:
#define EULER_SIMCON 1
#include "euler_state_estimation/Inc/state_est_const.h"
#include "euler_state_estimation/Src/state_est.h"
  1. Initialisation and calibration for ground temperature and pressure:
state_est_state_t state_est_state = { 0 };
reset_state_est_state(ground_pressure, ground_temperature, &state_est_state);
  1. Update of state estimation measurements
state_est_state->state_est_meas = xy;
  1. Update of state estimation measurements (with included flight detection step)
state_est_step(tick_count, &state_est_state, true);