function

Estimation.StrapdownINS.ESKF.TickUpdates.MagnetometerTick

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
input	`previous`	`State`
input	`tuning`	`Tuning`
input	`gravityWorldEnu_m_s2`	`Real`	`[3]`
input	`imuTime`	`Real`
input	`angularVelocity`	`Real`	`[3]`
input	`specificForce`	`Real`	`[3]`
input	`requested`	`Boolean`
input	`magnetometer`	`Avionics.MagnetometerSample`
output	`next`	`State`
output	`accepted`	`Boolean`
output	`outcome`	`Integer`
output	`nis`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function MagnetometerTick
    input State previous;
    input Tuning tuning;
    input Real gravityWorldEnu_m_s2[3];
    input Real imuTime;
    input Real angularVelocity[3];
    input Real specificForce[3];
    input Boolean requested;
    input Avionics.MagnetometerSample magnetometer;
    output State next;
    output Boolean accepted;
    output Integer outcome;
    output Real nis;
  algorithm
    accepted := false; outcome := CorrectionNotAttempted; nis := 0.0;
    if requested then
      (next, accepted, outcome, nis) := correctMagnetometer(previous, magnetometer,
        tuning.localMagneticFieldWorldEnu_T, tuning.innovationGate,
        imuTime-magnetometer.timestamp_s, angularVelocity, specificForce,
        gravityWorldEnu_m_s2, tuning.maximumAidingDelay_s,
        tuning.useEquivariantMagnetometer, tuning.useSemiDirectBias);
    else
      next := copyState(previous);
    end if;
  end MagnetometerTick;