function

Estimation.StrapdownINS.ESKF.TickUpdates.ReseedStateTick

Public declarations

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

Role	Name	Type
input	`previous`	`State`
input	`requested`	`Boolean`
input	`anchorSource`	`Integer`
input	`mocap`	`Avionics.MocapSample`
input	`gps`	`Avionics.GpsSample`
input	`variances`	`Estimation.StrapdownINS.InitialVariances`
output	`next`	`State`
output	`reseeded`	`Boolean`
output	`source`	`Integer`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function ReseedStateTick
    input State previous;
    input Boolean requested;
    input Integer anchorSource;
    input Avionics.MocapSample mocap;
    input Avionics.GpsSample gps;
    input Estimation.StrapdownINS.InitialVariances variances;
    output State next;
    output Boolean reseeded;
    output Integer source;
  protected
    Real position[3]; Real velocity[3];
  algorithm
    reseeded := requested;
    source := if requested then anchorSource else SourceNone;
    if requested then
      position := if anchorSource == SourceMocap then mocap.positionWorldEnu_m else gps.positionWorldEnu_m;
      velocity := if anchorSource == SourceGps and gps.velocityValid then gps.velocityWorldEnu_m_s else previous.velocityWorldEnu_m_s;
      next := reseed(previous, position, velocity, variances);
    else
      next := copyState(previous);
    end if;
  end ReseedStateTick;