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"

2. 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);

3. Update of state estimation measurements

state_est_state->state_est_meas = xy;

4. Update of state estimation measurements (with included flight detection step)

state_est_step(tick_count, &state_est_state, true);