function

Tests.EstimatorHardeningTests.nanState

A well-formed prior state to offer bad measurements against

Public declarations

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

Role	Name	Type	Dimensions / attributes / default	Description
output	`prior`	`Estimation.StrapdownINS.ESKF.State`

Modelica declarations and implementation

Show parameters, interfaces and source

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

function nanState
    "A well-formed prior state to offer bad measurements against"
    output Estimation.StrapdownINS.ESKF.State prior;
  protected
    Estimation.StrapdownINS.InitialVariances variances;
  algorithm
    variances := Estimation.StrapdownINS.InitialVariances(
      position_m2=fill(1.0, 3),
      velocity_m2_s2=fill(1.0, 3),
      attitude_rad2=fill(0.25, 3),
      gyroscopeBias_rad2_s2=fill(1.0e-4, 3),
      accelerometerBias_m2_s4=fill(1.0e-2, 3));
    prior := Estimation.StrapdownINS.ESKF.initialize(
      zeros(3), {1.0, 0.0, 0.0, 0.0}, variances);
  end nanState;