dfti::StateData Struct Reference
Structure to hold state data published. More...
#include <server.hh>
Public Attributes | |
| quint64 | gpsTimeNs {0} |
| INS GPS timestamp. | |
| float | eulerDeg [3] = {0} |
| INS Euler angles. | |
| float | quaternion [4] = {0} |
| INS quaternion. | |
| float | angularRatesRPS [3] = {0} |
| INS angular rates. | |
| float | accelMps2 [3] = {0} |
| INS accelerations. | |
| float | iasMps {0} |
| ADS indicated airspeed. | |
| float | aoaDeg {0} |
| ADS angle-of-attack. | |
| float | aosDeg {0} |
| ADS sideslip angle. | |
| quint8 | numRIOValues {0} |
| Number of RIO values (up to 10). | |
| float | rioValues [STATE_DATA_SIZE] = {0} |
| RIO values. | |
Detailed Description
Structure to hold state data published.
For online system identification and similar use cases, we need the vehicle state data available. This data structure holds a minimum set of state data as a POD struct with 1 byte structure packing.
State data comes from the INS, ADS, and control effector RIOs. If these sensors are inactive values of zero are used.
The StateData structure is assumed to use the native byte order.
- Note
- Since DFTI is designed such that the number of RIO values is variable, the StateData struct assumes that there are at most 10 values and preallocates a float array accordingly. An unsigned char is then used to indicate to the user how many of these values are actually used. Further, it is the user's responsibility to use these values correctly.
The documentation for this struct was generated from the following file:
