function

Estimation.StrapdownINS.ESKF.TickUpdates.StationaryVelocityTick

Public declarations

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

Role	Name	Type
input	`previous`	`State`
input	`tuning`	`Tuning`
input	`requested`	`Boolean`
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 StationaryVelocityTick
    input State previous;
    input Tuning tuning;
    input Boolean requested;
    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) := correctZeroVelocity(previous,
        tuning.stationaryVelocityVariance_m2_s2, 0.0, tuning.useSemiDirectBias);
    else
      next := copyState(previous);
    end if;
  end StationaryVelocityTick;