ahrs_data.go

package ahrsweb

const Port = 8000

type AHRSData struct {
	// Kalman state variables
	U1, U2, U3     float64 // Vector for airspeed, aircraft frame, kt
	Z1, Z2, Z3     float64 // Vector for rate of change of airspeed, aircraft frame, G
	E0, E1, E2, E3 float64 // Quaternion rotating earth frame to aircraft frame
	H1, H2, H3     float64 // Vector for gyro rates, earth frame, °/s
	N1, N2, N3     float64 // Vector for earth's magnetic field, earth (inertial) frame, µT

	V1, V2, V3     float64 // (Bias) Vector for windspeed, earth frame, kt
	C1, C2, C3     float64 // Bias vector for accelerometer, sensor frame, G
	F0, F1, F2, F3 float64 // (Bias) quaternion rotating sensor frame to aircraft frame
	D1, D2, D3     float64 // Bias vector for gyro rates, sensor frame, °/s
	L1, L2, L3     float64 // Bias vector for magnetometer direction, sensor frame, µT

	// Kalman state uncertainties
	DU1, DU2, DU3      float64 // Vector for airspeed, aircraft frame, kt
	DZ1, DZ2, DZ3      float64 // Vector for rate of change of airspeed, aircraft frame, G
	DE0, DE1, DE2, DE3 float64 // Quaternion rotating earth frame to aircraft frame
	DH1, DH2, DH3      float64 // Vector for gyro rates, earth frame, °/s
	DN1, DN2, DN3      float64 // Vector for earth's magnetic field, earth (inertial) frame, µT

	DV1, DV2, DV3      float64 // (Bias) Vector for windspeed, earth frame, kt
	DC1, DC2, DC3      float64 // Bias vector for accelerometer, sensor frame, G
	DF0, DF1, DF2, DF3 float64 // (Bias) quaternion rotating sensor frame to aircraft frame
	DD1, DD2, DD3      float64 // Bias vector for gyro rates, sensor frame, °/s
	DL1, DL2, DL3      float64 // Bias vector for magnetometer direction, sensor frame, µT

	// Measurement variables
	UValid, WValid, SValid, MValid bool    // Do we have valid airspeed, GPS, accel/gyro, and magnetometer readings?
	S1, S2, S3                     float64 // Vector of airspeeds
	W1, W2, W3                     float64 // Vector of GPS speed in N/S, E/W and U/D directions, kt, latlong axes, earth (inertial) frame
	A1, A2, A3                     float64 // Vector holding accelerometer readings, G, aircraft (accelerated) frame
	B1, B2, B3                     float64 // Vector of gyro rates in roll, pitch, heading axes, °/s, aircraft (accelerated) frame
	M1, M2, M3                     float64 // Vector of magnetometer readings, µT, aircraft (accelerated) frame
	T                              float64 // Timestamp of GPS, airspeed and magnetometer readings

	// Final output
	Pitch, Roll, Heading float64
}