Classes
class	DeadReckon
	GNC App for performing the propagation step of an EKF when an IMU is available to report the angular velocity and acceleration (without gravity). This app is an implementation if a strapdown IMU based dead-reckoning integration of an objects position, velocity, and attitude relative to some inertial frame (this frame can be pseudoinertial, use your best judgement). This form of propagation step is best used if there are significant external/internal forces other than gravity acting on the system, also forces that cannot be modeled easily as functions of the state vector. More...
class	GPSUpdate
	GNC App for performing the GPS measurement update step of an EKF when a GPS receiver is available to report the vehicle position in a known reference frame (e.g., ECEF, ECI, or NED). This app implements the EKF measurement correction step by comparing the measured GPS position (after necessary frame and lever-arm transformations) to the predicted position from the EKF state. More...
class	MagUpdate
	GNC App for performing the magnetometer measurement update step of an EKF when a 3-axis magnetometer is available to report the local magnetic field vector. This app implements the EKF measurement correction step by comparing the measured magnetic field in the magnetometer frame to the expected magnetic field derived from an internal model (e.g., WMM, IGRF, lookup table) and the current state estimate. More...
class	PdAttitudeControl
	Simple PD attitude controller. More...
class	TwoAxisPointingGuidance
	Two-axis constrained pointing guidance method guidance. More...
class	LedBlinker
	LED Blinker example app. More...
struct	PlanetDefaults
	Contain all default values defined for a planet. More...
class	App
	Base app class for derived implementation. More...
struct	RegisteredCommandInfo
	Struct to store info on registered commands. More...
class	CommandManager
	This class routes commands from the HAL to associated Apps. More...
class	FlightExecutive
	Executive derivation specifically to run flight systems. More...
class	OS
	Holds all os-specific interfaces. More...
struct	GpioConfig_t
	Struct type definition for GPIO configuration interface. More...
struct	SpiConfig_t
	Struct type definition for SPI configuration interface. More...
struct	UartConfig_t
	Struct type definition for UART configuration interface. More...
struct	I2cConfig_t
	Struct type definition for I2C configuration interface. More...
struct	PwmConfig_t
	Struct type definition for PWM configuration interface. More...
struct	AdcConfig_t
	Struct type definition for ADC configuration interface. More...
class	Platform
	Holds all platform-specific interfaces. More...
class	Scheduler
	Base class implementation of the scheduler. More...
class	Setup
	Holds the setup configuration for Flight Executive. More...
class	StorageManager
	App which manages all storage output from the flight system. More...
struct	PacketTypeInfo
	Telemetry packet type metadata struct. More...
struct	PacketInfo
	Telemetry packet metadata struct. More...
class	TelemetryManager
	App which manages all telemetry output from the flight system. More...
class	Rates
class	EkfDynamics
class	EkfMeasurementUpdate
	Generic, templated EKF measurement update class. More...
class	EkfTimeUpdate
	Class to perform EKF time update step. More...
class	GPSMeasurements
class	InertialNavigationDynamics
class	Measurements
class	NonlinearLeastSquares
	Templated class to perform Nonlinear Least Squares. More...
class	PointingVectorMeasurements
class	ForwardEulerIntegrator
class	Integrator
class	RK4Integrator
class	TableScheduler
	Simple, table-based scheduler for flight software. More...

Enumerations
enum	file_descriptors_e : uint8 { WRITE = 0x01 , READ = 0x02 , OPEN_EXISTING = 0x04 , CREATE_NEW = 0x08 , CREATE_ALWAYS = 0x10 , OPEN_ALWAYS = 0x20 , OPEN_APPEND = 0x40 }
	Options when opening files. More...
enum	tlm_priority_e : uint8 { NORMAL = 0 , HIGH = 1 }
	Enumeration of valid telemtry queue priorities. More...

Functions
int16	computeCRC16 (uint32 &crc, const uint8 *packet_ptr, size_t length, uint32 input_crc=0)
	Function to compute the CRC16 checksum for a packet.
int16	validateCRC16 (const uint32 &crc, const uint8 *packet_ptr, size_t length, uint32 input_crc=0)
	Function to validate the CRC16 checksum for a packet.
int16	computeFletcher8Checksum (const uint8 *packet_ptr, uint8 length, uint16 &checksum)
	Function to calculate the fletcher 8 checksum.
int16	validateFletcher8Checksum (const uint8 *packet_ptr, uint8 length, const uint16 &checksum)
	Function to validate the fletcher8 checksum for a packet.
int16	writeCCSDSHeader (uint8 *header, bool is_tlm, uint16 apid, uint8 seq_flag, uint16 seq_count, uint16 data_len, clockwerk::Time timestamp, uint8 instance)
	Function to write the CCSDS packet header.
int16	readCCSDSHeader (uint8 *header, bool &is_tlm, uint16 &apid, uint8 &seq_flag, uint16 &seq_count, uint16 &data_len, clockwerk::Time &timestamp, uint8 &instance)
	Function to read the CCSDS packet header and extract its contents.
template<class T>
T	changeEndian (T in)
	Change the endianness of a number.
template<class T, std::size_t N>
std::array< T, N >	changeEndian (const std::array< T, N > &in)
	Specialized version of changeEndian which manages array values correctly.
	EXCLUDE_FROM_COVERAGE (const FlightExecutive &FlightExecutive::operator=(const FlightExecutive &original) { return *this;}) FlightExecutive
void	convertImuInertialCg (const clockwerk::CartesianVector< 3 > &accel_meas_imu_I__imu, const clockwerk::CartesianVector< 3 > &ang_vel_meas_imu_I__imu, const clockwerk::CartesianVector< 3 > &ang_accel_meas_imu_I__imu, const clockwerk::CartesianVector< 3 > &lever_arm_imu_body__body, const clockwerk::Quaternion &quat_imu_body, const clockwerk::CartesianVector< 3 > &accel_bias__imu, const clockwerk::CartesianVector< 3 > &ang_vel_bias__imu, clockwerk::CartesianVector< 3 > &accel_body_I__body, clockwerk::CartesianVector< 3 > &ang_vel_body_I__body)
	Rotate IMU measurement from IMU frame to inertial body representation.
const uint32	GPS_MEASUREMENT_VECTOR_ELEMENTS (3)
const uint32	GPS_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS (4)
const uint32	GPS_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS (3)
int	kalman_takasu (floating_point x, floating_point P, const floating_point dz, const floating_point R, const floating_point Ht, int n, int m, floating_point chi2_threshold, floating_point chi2)
	Kalman Filter Routine (Takasu Formulation).
void	kalman_predict (floating_point x, floating_point P, const floating_point Phi, const floating_point G, const floating_point *Q, int n, int r)
	Kalman Temporal / Prediction Step.
int	kalman_udu_scalar (floating_point x, floating_point U, floating_point d, const floating_point dz, const floating_point R, const floating_point H_line, int n)
	Square Root Kalman Filter (Bierman) Routine for a single scalar measurement.
int	kalman_udu (floating_point x, floating_point U, floating_point d, const floating_point z, const floating_point R, const floating_point Ht, int n, int m, floating_point chi2_threshold, int downweight_outlier)
	(Robust) Square Root Kalman Filter (Bierman) update routine for linear systems.
int	decorrelate (floating_point z, floating_point Ht, floating_point *R, int n, int m)
	Decorrelate measurements. For a given covariance matrix R of correlated measurements, calculate a vector of decorrelated measurements (and the matching H-matrix) so that the new covariance R of the decorrelated measurements is an identity matrix.
void	kalman_udu_predict (floating_point x, floating_point U, floating_point d, const floating_point Phi, const floating_point G, const floating_point Q, int n, int r)
	UDU' (Thornton) Filter Temporal / Prediction Step.
void	matmul (const char ta, const char tb, int n, int k, int m, floating_point alpha, const floating_point A, const floating_point B, floating_point beta, floating_point *C)
void	matmulsym (const floating_point A_sym, const floating_point B, int n, int m, floating_point *C)
	Multiplication of symmetric matrix A with B: C = A*B.
void	mateye (floating_point *A, int n)
	Fill array with an identity matrix.
int	cholesky (floating_point *A, const int n, int onlyWriteLowerPart)
	Calculate the lower triangular matrix L, so that L*L' = A. Operation count: n^3/6 with n square roots. BLAS equivalent: ?potrf.
void	trisolve (const floating_point A, floating_point B, int n, int m, const char *tp)
	Triangular solve BLAS: ?trsm.
void	trisolveright (const floating_point L, floating_point A, int n, int m, const char *tp)
	Triangular solve (right hand side). BLAS: ?trsm.
void	symmetricrankupdate (floating_point P, const floating_point E, int n, int m)
	Symmetric rank update. P = P - E*E'.
int	udu (const floating_point A, floating_point U, floating_point *d, const int n)
	UDU decomposition of a symmetrical n x n matrix so that A = UDU'.
int	lsame_ (const char a, const char b)
int	strsm_ (const char side, const char uplo, const char transa, const char diag, int m, int n, floating_point alpha, const floating_point a, int lda, floating_point b, int *ldb)
int	sgemm_ (char transa, char transb, int m, int n, int k, floating_point alpha, floating_point a, int lda, floating_point b, int ldb, floating_point beta, floating_point c__, int *ldc)
int	ssyrk_ (char uplo, char trans, int n, int k, floating_point alpha, floating_point a, int lda, floating_point beta, floating_point c__, int ldc)
int	ssymm_ (char side, char uplo, int m, int n, floating_point alpha, floating_point a, int lda, floating_point b, int ldb, floating_point beta, floating_point c__, int ldc)
int	strmm_ (const char side, const char uplo, const char transa, const char diag, int m, int n, floating_point alpha, floating_point a, int lda, floating_point b, int *ldb)
const uint32	POINTING_MEASUREMENT_MEASUREMENT_VECTOR_ELEMENTS (3)
const uint32	POINTING_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS (3)
const uint32	POINTING_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS (3)
int16	calcMachNumber (const clockwerk::CartesianVector< 3 > &v_veh__wind, floating_point speed_of_sound, floating_point &mach)
	Calculate Mach number from velocity and speed of sound.
int16	calcAngleOfAttack (const clockwerk::CartesianVector< 3 > &v_veh__wind, floating_point &angle_of_attack)
	Calculate angle of attack from alpha = atan(vz/vx).
int16	calcSideslipAngle (const clockwerk::CartesianVector< 3 > &v_veh__wind, floating_point &sideslip)
	Calculate sideslip angle from beta = asin(vy/v_inf).
int16	pcrToDeticLla (clockwerk::CartesianVector< 3 > pos__pcr, floating_point r_planet_equatorial, floating_point flattening, floating_point &lat_rad, floating_point &lon_rad, floating_point &alt)
	Function to calculate detic LLA from PCR state.
int16	llaDeticToPCR (double r_planet_equitorial, double flattening, double lat_rad, double lon_rad, double alt, clockwerk::CartesianVector< 3 > &pos__pcr)
	Function to return the PCR (planet centered rotating) position of an object from detic latitude, longitude, and altitude.
int16	llaDeticToPCR (float r_planet_equitorial, float flattening, float lat_rad, float lon_rad, float alt, clockwerk::CartesianVector< 3 > &pos__pcr)
clockwerk::DCM	enuFromLatLonDetic (floating_point lat_rad, floating_point lon_rad)
	Function to calculate the East, North, Up frame attitude from detic lat and lon.
clockwerk::DCM	nedFromLatLonDetic (floating_point lat_rad, floating_point lon_rad)
	Function to calculate the North, East, Down frame attitude from detic lat and lon.
int16	nedToLlaDetic (floating_point lat_origin_deg, floating_point lon_origin_deg, floating_point alt_origin, clockwerk::CartesianVector< 3 > pos__ned, floating_point r_planet_equatorial, floating_point flattening, floating_point &lat_deg, floating_point &lon_deg, floating_point &alt)
	Function to calculate detic LLA from NED position.

Variables
const clockwerk::CartesianVector< 3 >	ZERO_VECTOR = clockwerk::CartesianVector<3>({0.0, 0.0, 0.0})
	Zero vector.
const floating_point	NSEC_TO_BIT32 = (0xFFFFFFFF) / clockwerk::NSEC_PER_SEC_I
	Factor to convert nanoseconds to 2^-32 seconds.
PlanetDefaults	earth_wgs84
PlanetDefaults	moon_nasa
PlanetDefaults	sun_nasa
PlanetDefaults	mercury_nasa
PlanetDefaults	venus_nasa
PlanetDefaults	mars_nasa
PlanetDefaults	jupiter_nasa
PlanetDefaults	uranus_nasa
PlanetDefaults	neptune_nasa
std::array< PlanetDefaults *, 9 >	defined_planet_defaults = {&earth_wgs84, &moon_nasa, &sun_nasa, &mercury_nasa, &venus_nasa, &mars_nasa, &jupiter_nasa, &uranus_nasa, &neptune_nasa}
	A single container to hold all defaults for searchability.
const floating_point	TWO_PI = 2.0*M_PI
const floating_point	DEGREES_TO_RADIANS = M_PI/180.0
const floating_point	RADIANS_TO_DEGREES = 180.0/M_PI
const floating_point	SPEED_OF_LIGHT = 299792458.0
const floating_point	BOLTZMANN_CONSTANT = 1.380649e-23
const floating_point	AU_TO_METERS = 149597870700.0
const floating_point	METERS_TO_AU = 1.0/149597870700.0
const floating_point	KM_TO_METERS = 1000.0
const floating_point	METERS_TO_KM = 0.001
const floating_point	METERS_TO_FEET = 3.28084
const floating_point	FEET_TO_METERS = 1.0/METERS_TO_FEET
const floating_point	METERS_TO_INCHES = METERS_TO_FEET*12.0
const floating_point	INCHES_TO_METERS = 1.0/METERS_TO_INCHES
const double	METERS_TO_NAUTICAL_MILES = 1.0/1852.0
const double	LBS_TO_KG = 0.45359237
const double	KG_TO_LBS = 1.0 / LBS_TO_KG
const double	POUND_FORCE_INCH_SECOND2_TO_METER2_KG = 0.1129848
const floating_point	SECONDS_TO_MILLISECONDS = 1000.0
const floating_point	SECONDS_TO_NANOSECONDS = 1000000000.0
const floating_point	NANOSECONDS_TO_SECONDS = 1.0 / SECONDS_TO_NANOSECONDS
const floating_point	MILLISECONDS_TO_NANOSECONDS = 1000000.0
const floating_point	NANOSECONDS_TO_MILLISECONDS = 1.0 / MILLISECONDS_TO_NANOSECONDS
const floating_point	SECONDS_TO_MICROSECONDS = 1000000.0
const floating_point	MICROSECONDS_TO_SECONDS = 1.0 / SECONDS_TO_MICROSECONDS
const floating_point	MICROSECONDS_TO_NANOSECONDS = 1000.0
const floating_point	MICROSECONDS_TO_MILLISECONDS = 1.0/1000.0
const floating_point	MINUTES_TO_SECONDS = 60.0
const floating_point	SECONDS_TO_MINUTES = 1.0 / MINUTES_TO_SECONDS
const floating_point	HOURS_TO_SECONDS = MINUTES_TO_SECONDS*MINUTES_TO_SECONDS
const floating_point	DAYS_TO_SECONDS = 24.0*HOURS_TO_SECONDS
const floating_point	YEARS_TO_SECONDS = 365.25*DAYS_TO_SECONDS
const floating_point	PSI_TO_PASCAL = 6894.7572932
const floating_point	PASCAL_TO_PSI = 1.0/PSI_TO_PASCAL
const floating_point	MILLIBAR_TO_PASCAL = 100.0
const floating_point	PASCAL_TO_MILLIBAR = 1.0/MILLIBAR_TO_PASCAL
const uint8	PRINT_SIZE = 200
const uint8	TIME_STR_SIZE = 20
	Constant for time string conversion.
const uint8	FILE_NAME_MAX = 100
	Constant for filenaming.
const uint8	LENGTH_TERM_BYTES = 4
const uint8	TERM_BYTES [LENGTH_TERM_BYTES] = {0xBA, 0xDD, 0xAD, 0xDA}
const floating_point	MINIMUM_COV_DIAG_EPSILON = 1e-6
const uint32	INERTIAL_NAVIGATION_STATE_VECTOR_ELEMENTS = 16
const uint32	INERTIAL_NAV_RATES_VECTOR_SIZE = 16 + 16*16
char	CHAR_N = 'N'
char	CHAR_U = 'U'
char	CHAR_R = 'R'
char	CHAR_L = 'L'
char	CHAR_T = 'T'

Enumeration Type Documentation

◆ file_descriptors_e

enum warpos::file_descriptors_e : uint8

Options when opening files.

Enumerator
WRITE	Open file to Write.
READ	Open file to Read.
OPEN_EXISTING	Open existing file, fails if doesn't exist.
CREATE_NEW	Create new file, fails if it exists.
CREATE_ALWAYS	Create a new file, delete existing one if present.
OPEN_ALWAYS	Open file if exists, creates if not.
OPEN_APPEND	Same as open always, writes at the end.

◆ tlm_priority_e

enum warpos::tlm_priority_e : uint8

Enumeration of valid telemtry queue priorities.

Enumerator
NORMAL
HIGH

Function Documentation

◆ calcAngleOfAttack()

int16 warpos::calcAngleOfAttack	(	const clockwerk::CartesianVector< 3 > &	v_veh__wind,
		floating_point &	angle_of_attack )

Calculate angle of attack from alpha = atan(vz/vx).

Parameters

v_veh__wind	Velocity vector for the vehicle relative to the air
angle_of_attack	Implicit return of the angle of attack, in radians

Returns: Error code corresponding to success/failure

◆ calcMachNumber()

int16 warpos::calcMachNumber	(	const clockwerk::CartesianVector< 3 > &	v_veh__wind,
		floating_point	speed_of_sound,
		floating_point &	mach )

Calculate Mach number from velocity and speed of sound.

Parameters

v_veh__wind	Velocity vector for the vehicle relative to the air
speed_of_sound	The speed of sound
mach	Implicit return of the mach number

Returns: Error code corresponding to success/failure

◆ calcSideslipAngle()

int16 warpos::calcSideslipAngle	(	const clockwerk::CartesianVector< 3 > &	v_veh__wind,
		floating_point &	sideslip )

Calculate sideslip angle from beta = asin(vy/v_inf).

Parameters

v_veh__wind	Velocity vector for the vehicle relative to the air
sideslip	Implicit return of the sideslip angle, in radians

Returns: Error code corresponding to success/failure

◆ changeEndian() [1/2]

template<class T, std::size_t N>

std::array< T, N > warpos::changeEndian ( const std::array< T, N > & in )

Specialized version of changeEndian which manages array values correctly.

◆ changeEndian() [2/2]

template<class T>

T warpos::changeEndian ( T in )

Change the endianness of a number.

Parameters

in	The number to change endianness of

Returns: The number with endianness swapped

◆ cholesky()

int warpos::cholesky	(	floating_point *	A,
		const int	n,
		int	onlyWriteLowerPart )

Calculate the lower triangular matrix L, so that L*L' = A. Operation count: n^3/6 with n square roots. BLAS equivalent: ?potrf.

Optmized for

Parameters

[in,out]	A	Symmetric, positive definite (n x n) matrix. Only upper triangular part needs to be given. Lower triangular part is overwritten with L.
[in]	n	Dimension of A
[in]	onlyWriteLowerPart	If set to 0, overwrite the upper triangular part with zeros. Set to e.g. -1 to leave the upper triangular part untouched.

Returns: 0 if successful, -1 if matrix is not positive definite.

◆ computeCRC16()

int16 warpos::computeCRC16	(	uint32 &	crc,
		const uint8 *	packet_ptr,
		size_t	length,
		uint32	input_crc = 0 )

Function to compute the CRC16 checksum for a packet.

Parameters

crc	CRC16 checksum PBR
packet_ptr	Pointer to the packet
length	Length of the packet in bytes
input_crc	Starting/seed value for use in the CRC calculation

Returns: Error code corresponding to success/failure

Note: This function assumes that the packet_ptr buffer is in a directly-accessible memory space

◆ computeFletcher8Checksum()

int16 warpos::computeFletcher8Checksum	(	const uint8 *	packet_ptr,
		uint8	length,
		uint16 &	checksum )

Function to calculate the fletcher 8 checksum.

Parameters

packet_ptr	Pointer to the packet
length	Length of the packet in bytes
checksum	Reference to checksum to load data to

Returns: Error code corresponding to success/failure

◆ convertImuInertialCg()

void warpos::convertImuInertialCg	(	const clockwerk::CartesianVector< 3 > &	accel_meas_imu_I__imu,
		const clockwerk::CartesianVector< 3 > &	ang_vel_meas_imu_I__imu,
		const clockwerk::CartesianVector< 3 > &	ang_accel_meas_imu_I__imu,
		const clockwerk::CartesianVector< 3 > &	lever_arm_imu_body__body,
		const clockwerk::Quaternion &	quat_imu_body,
		const clockwerk::CartesianVector< 3 > &	accel_bias__imu,
		const clockwerk::CartesianVector< 3 > &	ang_vel_bias__imu,
		clockwerk::CartesianVector< 3 > &	accel_body_I__body,
		clockwerk::CartesianVector< 3 > &	ang_vel_body_I__body )

Rotate IMU measurement from IMU frame to inertial body representation.

Parameters

accel_meas_imu_I__imu	The acceleration measured by the IMU
ang_vel_meas_imu_I__imu	The angular velocity measured by the IMU
ang_accel_meas_imu_I__imu	The angular acceleration measured by the IMU, often derived from differencing ang vel.
lever_arm_imu_body__body	The lever arm from the body CG to the IMU frame, represented in body coords
quat_imu_body	The quaternion describing the orientation of the IMU frame wrt the body frame
accel_bias__imu	The IMU acceleration bias as measured in the imu frame
ang_vel_bias__imu	The angular velocity bias as measured in the imu frame
accel_body_I__body	Implicit return of inertial acceleration as measured in body frame
ang_vel_body_I__body	Implicit return of inertial angular velocity as measured in body frame
accel_meas__imu	The acceleration measured by the IMU
ang_vel_meas__imu	The angular velocity measured by the IMU
ang_accel_meas__imu	The angular acceleration measured by the IMU, often derived from differencing ang vel.
lever_arm__body	The lever arm from the body CG to the IMU frame, represented in body coords
quat_imu_body	The quaternion describing the orientation of the IMU frame wrt the body frame
accel_bias__imu	The IMU acceleration bias as measured in the imu frame
ang_vel_bias__imu	The angular velocity bias as measured in the imu frame
accel_inrtl__body	Implicit return of inertial acceleration as measured in body frame
ang_vel_inrtl__body	Implicit return of inertial angular velocity as measured in body frame

◆ decorrelate()

int warpos::decorrelate	(	floating_point *	z,
		floating_point *	Ht,
		floating_point *	R,
		int	n,
		int	m )

Decorrelate measurements. For a given covariance matrix R of correlated measurements, calculate a vector of decorrelated measurements (and the matching H-matrix) so that the new covariance R of the decorrelated measurements is an identity matrix.

Parameters

[in,out]	z	Vector of correlated measurements (m x 1).
[in,out]	Ht	Transposed measurement sensitivity matrix / design matrix so that z = Ht'*x (n x m).
[in,out]	R	Measurement covariance matrix, replaced in-place by chol(R) (m x m). So the input is R, overwritten with L such that L*L'=R. This is useful for the decorrelation of other measurements.
[in]	n	Number of columns in H (for a Kalman filter: length of state vector x).
[in]	m	Number of measurements in z.

Note: If R only has diagonal elements, the only use would be that an identity covariance matrix R is required, otherwise a call to this function is not required.

A typical use case would be the decorrelation of meassurements for the UDU filter:

 decorrelate(z, Ht, R, n, m); // in-place decorrelation of z and Ht
 floating_point Reye[3*3];
 mateye(Reye, 3); // set R to eye(2)
 kalman_udu(x, U, d, z, Reye, Ht, n, m, 0.0f, 0);

If Ht and R do not change, subsequently only measurements z need to be decorrelated. As the input R is replaced by L (such that L*L' = R), L can be reused to decorrelate further measurements:

trisolve(L, z, m, 1, N_CONST);

Returns: 0 if successful, if -1 state of z and H is not guaranteed to be consistent and must be discarded.

◆ enuFromLatLonDetic()

clockwerk::DCM warpos::enuFromLatLonDetic	(	floating_point	lat_rad,
		floating_point	lon_rad )

Function to calculate the East, North, Up frame attitude from detic lat and lon.

Parameters

lat_rad	The detic latitude in radians
lon_rad	The longitude in radians

Returns: DCM corresponding to ENU frame attitude relative to PCR

◆ EXCLUDE_FROM_COVERAGE()

warpos::EXCLUDE_FROM_COVERAGE ( const FlightExecutive &FlightExecutive::operator = (const FlightExecutive& original) { return *this; } )

◆ GPS_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS()

const uint32 warpos::GPS_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS ( 3 )

◆ GPS_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS()

const uint32 warpos::GPS_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS ( 4 )

◆ GPS_MEASUREMENT_VECTOR_ELEMENTS()

const uint32 warpos::GPS_MEASUREMENT_VECTOR_ELEMENTS ( 3 )

◆ kalman_predict()

void warpos::kalman_predict	(	floating_point *	x,
		floating_point *	P,
		const floating_point *	Phi,
		const floating_point *	G,
		const floating_point *	Q,
		int	n,
		int	r )

Kalman Temporal / Prediction Step.

Parameters

[in,out]	x	(optional *) state vector with size (n x 1)
[in,out]	P	covariance matrix of state estimation uncertainty P (n x n).
[in]	Phi	state transition matrix (n x n)
[in]	G	process noise distribution matrix (n x r)
[in]	Q	diagonal vector of covariance matrix of process noise in the stochastic system model (r x 1) (diag(Q) has size r x r)
[in]	n	State vector size n.
[in]	r	Process noise matrix size.

(*) Optional, as a non-linear filter will do the prediction of the state vector with a dedicated (non-linear) function. This will basically just predict the state vector with:

 x^{-} = Phi*x^{+}
 P^{+} = Phi*P^{-}*Phi' + G*diag(Q)*G'

◆ kalman_takasu()

int warpos::kalman_takasu	(	floating_point *	x,
		floating_point *	P,
		const floating_point *	dz,
		const floating_point *	R,
		const floating_point *	Ht,
		int	n,
		int	m,
		floating_point	chi2_threshold,
		floating_point *	chi2 )

Kalman Filter Routine (Takasu Formulation).

The Takasu formulation typically results in an efficient update step which saves CPU time. Numerical stability is good (but not as good as Joseph's form update or the UDU update). This is a good choice if speed is important, the problem formulation is well conditioned numerically and the UDU "square root" formulation is too invasive for the given environment.

Parameters

[in,out]	x	System state (n x 1)
[in,out]	P	Upper triangular Covariance matrix of state estimation uncertainty (n x n)
[in]	dz	Measurement residual vector: measurement vs. expected measurement: z - H*x (m x 1)
[in]	R	Full covariance matrix of measurement uncertainty (m x m)
[in]	Ht	Transposed (!) measurement sensitivity matrix (n x m) (H would be m x n)
[in]	n	Number of state variables
[in]	m	Number of measurements
[in]	chi2_threshold	Scalar threshold for chi2 outlier removal threshold. Set to 0.0f to disable the outlier removal.
[out]	chi2	Calculate the chi2 test statistics

Note 1: only the upper triangular part of P is referenced and updated. Note 2: chi2 threshold for 95% confidence is given in table below. E.g. if dz contains 3 measurements, use 7.8147 (MATLAB chi2inv(0.95, 3)).

chi2inv(0.95, 1:20): chi95% = [ 3.8415 5.9915 7.8147 9.4877 11.0705 12.5916 14.0671 ... 15.5073 16.9190 18.3070 19.6751 21.0261 22.3620 23.6848 ... 24.9958 26.2962 27.5871 28.8693 30.1435 31.4104 ];

chi2inv(0.99, 1:20): chi99% = [ 6.6349, 9.2103, 11.3449, 13.2767, 15.0863, 16.8119, ... 18.4753, 20.0902, 21.6660, 23.2093, 24.7250, 26.2170, 27.6882, ... 29.1412, 30.5779, 31.9999, 33.4087, 34.8053, 36.1909, 37.5662 ];

Returns: 0 on success, -1 on error, -2 if measurement is rejected as outlier.

◆ kalman_udu()

int warpos::kalman_udu	(	floating_point *	x,
		floating_point *	U,
		floating_point *	d,
		const floating_point *	z,
		const floating_point *	R,
		const floating_point *	Ht,
		int	n,
		int	m,
		floating_point	chi2_threshold,
		int	downweight_outlier )

(Robust) Square Root Kalman Filter (Bierman) update routine for linear systems.

Parameters

[in,out]	x	System state (n x 1)
[in,out]	U	Unit upper triangular factor of covariance matrix of a priori state uncertainty (n x n)
[in,out]	d	Unit upper triangular factor of covariance matrix of a priori state uncertainty (n x 1)
[in]	z	Measurement vector: z = H*x (m x 1)
[in]	R	Full covariance matrix of measurement uncertainty (m x m)
[in]	Ht	Transposed (!) measurement sensitivity matrix (n x m) (H would be m x n)
[in]	n	Number of state variables
[in]	m	Number of measurements
[in]	chi2_threshold	Scalar threshold for outlier classification. Set to 0.0f to disable.
[in]	downweight_outlier	If set to 0, measurements classified as outliers are skipped.

Returns: 0 on success, -1 on error.

◆ kalman_udu_predict()

void warpos::kalman_udu_predict	(	floating_point *	x,
		floating_point *	U,
		floating_point *	d,
		const floating_point *	Phi,
		const floating_point *	G,
		const floating_point *	Q,
		int	n,
		int	r )

UDU' (Thornton) Filter Temporal / Prediction Step.

Catherine Thornton's modified weighted Gram-Schmidt orthogonalization method for the predictor update of the U-D factors of the covariance matrix of estimation uncertainty in Kalman filtering. Source: [1].

P = U*D*U' = Uin * diag(din) * Uin'

Parameters

[in,out]	x	(optional *) state vector with size (n x 1)
[in,out]	U	unit upper triangular factor (U) of the modified Cholesky factors (U-D factors) of the covariance matrix of corrected state estimation uncertainty P^{+} (n x n). Updated in-place to the modified factors (U-D) of the covariance matrix of predicted state estimation uncertainty P^{-}, so that Udiag(d)U' = P^{-} after this function.
[in,out]	d	diagonal factor (d) vector (n x 1) of the U-D factors of the covariance matrix of corrected estimation uncertainty P^{+}, so that diag(d) = D. Updated in-place so that P^{-} = Udiag(d)U'
[in]	Phi	state transition matrix (n x n)
[in,out]	G	process noise distribution matrix (modified, if necessary to make the associated process noise covariance diagonal) (n x r)
[in]	Q	diagonal vector of covariance matrix of process noise in the stochastic system model (r x 1) (diag(Q) has size r x r)
[in]	n	State vector size n.
[in]	r	Process noise matrix size.

(*) Optional, as a non-linear filter will do the prediction of the state vector with a dedicated (non-linear) function. This will basically just predict the state vector with:

 x^{-} = Phi*x^{+}
 P^{+} = Phi*P^{-}*Phi' + G*diag(Q)*G'

References: [1] Grewal, Weill, Andrews. "Global positioning systems, inertial navigation, and integration". 1st ed. John Wiley & Sons, New York, 2001.

◆ kalman_udu_scalar()

int warpos::kalman_udu_scalar	(	floating_point *	x,
		floating_point *	U,
		floating_point *	d,
		const floating_point	dz,
		const floating_point	R,
		const floating_point *	H_line,
		int	n )

Square Root Kalman Filter (Bierman) Routine for a single scalar measurement.

Parameters

[in,out]	x	System state (n x 1)
[in,out]	U	Unit upper triangular factor of covariance matrix of a priori state uncertainty (n x n)
[in,out]	d	Unit upper triangular factor of covariance matrix of a priori state uncertainty (n x 1)
[in]	dz	Measurement residual dz = z - H*x (1 x 1).
[in]	R	Scalar covariance of measurement uncertainty (1 x 1)
[in]	H_line	Row of measurement sensitivity matrix (n x 1)
[in]	n	Number of state variables

◆ llaDeticToPCR() [1/2]

int16 warpos::llaDeticToPCR	(	double	r_planet_equitorial,
		double	flattening,
		double	lat_rad,
		double	lon_rad,
		double	alt,
		clockwerk::CartesianVector< 3 > &	pos__pcr )

Function to return the PCR (planet centered rotating) position of an object from detic latitude, longitude, and altitude.

Parameters

r_planet_equitorial	The equatorial radius of the planet
flattening	Flattening coefficient of the planet
lat_rad	The detic latitude in radians
lon_rad	The longitude in radians
alt	The detic altitude in the same units as the radius (r_planet)
pos__pcr	Implicit return of the position of the object in PCR coordinates

Returns: Error code (0 if no error occurs)

Note: Method based on equation 3.6 in chapter 3 section 2, equation 10.1-10.2 in chapter 10 section 2.1 from Global Positioning System Theory and Practice by B. Hofmann-Wellenhof, H. Lichtenegger, and J. Collins

◆ llaDeticToPCR() [2/2]

int16 warpos::llaDeticToPCR	(	float	r_planet_equitorial,
		float	flattening,
		float	lat_rad,
		float	lon_rad,
		float	alt,
		clockwerk::CartesianVector< 3 > &	pos__pcr )

◆ lsame_()

int warpos::lsame_	(	const char *	a,
		const char *	b )

◆ mateye()

void warpos::mateye	(	floating_point *	A,
		int	n )

Fill array with an identity matrix.

Parameters

[out]	A	To be filled (n x n).
[in]	n	Dimension of A.

◆ matmul()

void warpos::matmul	(	const char *	ta,
		const char *	tb,
		int	n,
		int	k,
		int	m,
		floating_point	alpha,
		const floating_point *	A,
		const floating_point *	B,
		floating_point	beta,
		floating_point *	C )

◆ matmulsym()

void warpos::matmulsym	(	const floating_point *	A_sym,
		const floating_point *	B,
		int	n,
		int	m,
		floating_point *	C )

Multiplication of symmetric matrix A with B: C = A*B.

Parameters

[in]	A_sym	(n x n) matrix, only upper triangular part is referenced.
[in]	B	(n x m) matrix
[in]	n	Rows/columns of A, rows of B
[in]	m	columns of B and C
[out]	C	(n x m) matrix output of the product A*B

◆ nedFromLatLonDetic()

clockwerk::DCM warpos::nedFromLatLonDetic	(	floating_point	lat_rad,
		floating_point	lon_rad )

Function to calculate the North, East, Down frame attitude from detic lat and lon.

Parameters

lat_rad	The detic latitude in radians
lon_rad	The longitude in radians

Returns: DCM corresponding to NED frame attitude relative to PCR

◆ nedToLlaDetic()

int16 warpos::nedToLlaDetic	(	floating_point	lat_origin_deg,
		floating_point	lon_origin_deg,
		floating_point	alt_origin,
		clockwerk::CartesianVector< 3 >	pos__ned,
		floating_point	r_planet_equatorial,
		floating_point	flattening,
		floating_point &	lat_deg,
		floating_point &	lon_deg,
		floating_point &	alt )

Function to calculate detic LLA from NED position.

Parameters

lat_origin_deg	Latitude of the NED origin in degrees
lon_origin_deg	Longitude of the NED origin in degrees
alt_origin	Altitude of the NED origin in same units as r_planet_equatorial
pos__ned	The position of the spacecraft in NED frame
r_planet_equatorial	The equatorial radius of the planet
flattening	The flattening value of the planet
lat_deg	Implicit return of latitude in degrees
lon_deg	Implicit return of longitude in degrees
alt	Implicit return of altitude

Returns: Error code corresponding to success/failure

◆ pcrToDeticLla()

int16 warpos::pcrToDeticLla	(	clockwerk::CartesianVector< 3 >	pos__pcr,
		floating_point	r_planet_equatorial,
		floating_point	flattening,
		floating_point &	lat_rad,
		floating_point &	lon_rad,
		floating_point &	alt )

Function to calculate detic LLA from PCR state.

Parameters

pos__pcr	The position of the spacecraft in PCR frame
r_planet_equatorial	The equatorial radius of the planet
flattening	The flattening value of the planet
lat_rad	Implicit return of latitude in radians
lon_rad	Implicit return of longitude in radians
alt	Implicit return of altitude

Returns: Error code corresponding to success/failure

◆ POINTING_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS()

const uint32 warpos::POINTING_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS ( 3 )

◆ POINTING_MEASUREMENT_MEASUREMENT_VECTOR_ELEMENTS()

const uint32 warpos::POINTING_MEASUREMENT_MEASUREMENT_VECTOR_ELEMENTS ( 3 )

◆ POINTING_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS()

const uint32 warpos::POINTING_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS ( 3 )

◆ readCCSDSHeader()

int16 warpos::readCCSDSHeader	(	uint8 *	header,
		bool &	is_tlm,
		uint16 &	apid,
		uint8 &	seq_flag,
		uint16 &	seq_count,
		uint16 &	data_len,
		clockwerk::Time &	timestamp,
		uint8 &	instance )

Function to read the CCSDS packet header and extract its contents.

Parameters

header	Pointer to the head of the buffer that holds the header (must be at least 6 bytes long)
is_tlm	Packet type bit PBR
apid	Packet APID PBR
seq_flag	Sequence flag PBR
seq_count	Sequence count PBR
data_len	Packet data length PBR
timestamp	Time of the packet from secondary header time code PBR
instance	APID instance from secondary header PBR

Returns: Error code corresponding to success/failure

◆ sgemm_()

int warpos::sgemm_	(	char *	transa,
		char *	transb,
		int *	m,
		int *	n,
		int *	k,
		floating_point *	alpha,
		floating_point *	a,
		int *	lda,
		floating_point *	b,
		int *	ldb,
		floating_point *	beta,
		floating_point *	c__,
		int *	ldc )

◆ ssymm_()

int warpos::ssymm_	(	char *	side,
		char *	uplo,
		int *	m,
		int *	n,
		floating_point *	alpha,
		floating_point *	a,
		int *	lda,
		floating_point *	b,
		int *	ldb,
		floating_point *	beta,
		floating_point *	c__,
		int *	ldc )

◆ ssyrk_()

int warpos::ssyrk_	(	char *	uplo,
		char *	trans,
		int *	n,
		int *	k,
		floating_point *	alpha,
		floating_point *	a,
		int *	lda,
		floating_point *	beta,
		floating_point *	c__,
		int *	ldc )

◆ strmm_()

int warpos::strmm_	(	const char *	side,
		const char *	uplo,
		const char *	transa,
		const char *	diag,
		int *	m,
		int *	n,
		floating_point *	alpha,
		floating_point *	a,
		int *	lda,
		floating_point *	b,
		int *	ldb )

◆ strsm_()

int warpos::strsm_	(	const char *	side,
		const char *	uplo,
		const char *	transa,
		const char *	diag,
		int *	m,
		int *	n,
		floating_point *	alpha,
		const floating_point *	a,
		int *	lda,
		floating_point *	b,
		int *	ldb )

◆ symmetricrankupdate()

void warpos::symmetricrankupdate	(	floating_point *	P,
		const floating_point *	E,
		int	n,
		int	m )

Symmetric rank update. P = P - E*E'.

Parameters

[in,out]	P	Matrix (n x n) to be updated (only upper part is referenced and updated)
[in]	E	Matrix (n x m) including the update
[in]	n	Number of rows and cols in P, rows in E
[in]	m	Number of cols in E

◆ trisolve()

void warpos::trisolve	(	const floating_point *	A,
		floating_point *	B,
		int	n,
		int	m,
		const char *	tp )

Triangular solve BLAS: ?trsm.

Solve matrix equation: A*X = B

Parameters

[in]	A	Given lower triangular matrix (dimension n x n)
[in,out]	B	Matrix being overwritten by X (dimension n x m)
[in]	n	Matrix dimension (rows / columns of A)
[in]	m	Matrix dimension (cols of B)
[in]	tp	Transpose L?

◆ trisolveright()

void warpos::trisolveright	(	const floating_point *	L,
		floating_point *	A,
		int	n,
		int	m,
		const char *	tp )

Triangular solve (right hand side). BLAS: ?trsm.

Solve matrix equation: X*L = A

Parameters

[in]	L	Given lower triangular matrix (dimension n x n)
[in,out]	A	Matrix being overwritten by X (dimension m x n)
[in]	n	Matrix dimension (rows / columns of L)
[in]	m	Matrix dimension (rows of A)
[in]	tp	Transpose L?

◆ udu()

int warpos::udu	(	const floating_point *	A,
		floating_point *	U,
		floating_point *	d,
		const int	n )

UDU decomposition of a symmetrical n x n matrix so that A = U*D*U'.

D is returned as diagonal vector d so that diag(d) = D. U Is an unit upper triangular matrix U.

Parameters

[in]	A	(n x n) input matrix
[out]	U	(n x n) Output upper unit triangular matrix U
[out]	d	(n x 1) Output vector d (D = diag(d))
[in]	n	Matrix dimension n

◆ validateCRC16()

int16 warpos::validateCRC16	(	const uint32 &	crc,
		const uint8 *	packet_ptr,
		size_t	length,
		uint32	input_crc = 0 )

Function to validate the CRC16 checksum for a packet.

Parameters

crc	CRC16 checksum to validate
packet_ptr	Pointer to the packet
length	Length of the packet in bytes
input_crc	Starting/seed value for use in the CRC calculation

Returns: Error code corresponding to success/failure

Note: This function assumes that the packet_ptr buffer is in a directly-accessible memory space

◆ validateFletcher8Checksum()

int16 warpos::validateFletcher8Checksum	(	const uint8 *	packet_ptr,
		uint8	length,
		const uint16 &	checksum )

Function to validate the fletcher8 checksum for a packet.

Parameters

packet_ptr	Pointer to the packet
length	Length of the packet in bytes
checksum	The checksum to validate

Returns: Error code corresponding to success/failure

◆ writeCCSDSHeader()

int16 warpos::writeCCSDSHeader	(	uint8 *	header,
		bool	is_tlm,
		uint16	apid,
		uint8	seq_flag,
		uint16	seq_count,
		uint16	data_len,
		clockwerk::Time	timestamp,
		uint8	instance )

Function to write the CCSDS packet header.

Parameters

header	Pointer to the head of the buffer that will hold the header (must be at least 12 bytes long for both primary and secondary headers)
is_tlm	Whether or not this is a telemetry packet, for packet type bit
apid	Packet APID
seq_flag	Sequence flag
seq_count	Sequence count
data_len	Packet data length in bytes (not length - 1 as specified by CCSDS standard; this function will subtract 1)
timestamp	Time of the packet for secondary header time code
instance	APID instance for secondary header

Returns: Error code corresponding to success/failure

Note: The CCSDS header will have a primary header as well as a secondary header containing a time code, which is formatted per cFS implementation

Variable Documentation

◆ AU_TO_METERS

const floating_point warpos::AU_TO_METERS = 149597870700.0

◆ BOLTZMANN_CONSTANT

const floating_point warpos::BOLTZMANN_CONSTANT = 1.380649e-23

◆ CHAR_L

char warpos::CHAR_L = 'L'

◆ CHAR_N

char warpos::CHAR_N = 'N'

◆ CHAR_R

char warpos::CHAR_R = 'R'

◆ CHAR_T

char warpos::CHAR_T = 'T'

◆ CHAR_U

char warpos::CHAR_U = 'U'

◆ DAYS_TO_SECONDS

const floating_point warpos::DAYS_TO_SECONDS = 24.0*HOURS_TO_SECONDS

◆ defined_planet_defaults

std::array< PlanetDefaults *, 9 > warpos::defined_planet_defaults = {&earth_wgs84, &moon_nasa, &sun_nasa, &mercury_nasa, &venus_nasa, &mars_nasa, &jupiter_nasa, &uranus_nasa, &neptune_nasa}

A single container to hold all defaults for searchability.

◆ DEGREES_TO_RADIANS

const floating_point warpos::DEGREES_TO_RADIANS = M_PI/180.0

◆ earth_wgs84

PlanetDefaults warpos::earth_wgs84

Initial value:

                           = {
    "EARTH",            
    6378137.0,          
    1.0/298.257223563,  
    3.986004418e14,     
    0.00108262998905,   
    -0.00000253215306,  
    7.292115e-5,        
    9.7976432223        
}

◆ FEET_TO_METERS

const floating_point warpos::FEET_TO_METERS = 1.0/METERS_TO_FEET

◆ FILE_NAME_MAX

const uint8 warpos::FILE_NAME_MAX = 100

Constant for filenaming.

◆ HOURS_TO_SECONDS

const floating_point warpos::HOURS_TO_SECONDS = MINUTES_TO_SECONDS*MINUTES_TO_SECONDS

◆ INCHES_TO_METERS

const floating_point warpos::INCHES_TO_METERS = 1.0/METERS_TO_INCHES

◆ INERTIAL_NAV_RATES_VECTOR_SIZE

const uint32 warpos::INERTIAL_NAV_RATES_VECTOR_SIZE = 16 + 16*16

◆ INERTIAL_NAVIGATION_STATE_VECTOR_ELEMENTS

const uint32 warpos::INERTIAL_NAVIGATION_STATE_VECTOR_ELEMENTS = 16

◆ jupiter_nasa

PlanetDefaults warpos::jupiter_nasa

Initial value:

                            = {
    "JUPITER",            
    71492000.0,                         
    0.06487,                            
    1.26687e17,                         
    0.014736,                           
    0.0,                                
    static_cast<floating_point>(TWO_PI/(9.9250*HOURS_TO_SECONDS)),   
    25.92                               
}

◆ KG_TO_LBS

const double warpos::KG_TO_LBS = 1.0 / LBS_TO_KG

◆ KM_TO_METERS

const floating_point warpos::KM_TO_METERS = 1000.0

◆ LBS_TO_KG

const double warpos::LBS_TO_KG = 0.45359237

◆ LENGTH_TERM_BYTES

const uint8 warpos::LENGTH_TERM_BYTES = 4

◆ mars_nasa

PlanetDefaults warpos::mars_nasa

Initial value:

                         = {
    "MARS",            
    3396200.0,                          
    0.00589,                            
    4.2828e13,                          
    0.00196045,                         
    0.0,                                
    static_cast<floating_point>(TWO_PI/(24.6229*HOURS_TO_SECONDS)),  
    3.73                                
}

◆ mercury_nasa

PlanetDefaults warpos::mercury_nasa

Initial value:

                            = {
    "MERCURY",            
    2440500.0,                          
    0.0009,                             
    2.2032e13,                          
    0.00005030,                         
    0.0,                                
    static_cast<floating_point>(TWO_PI/(1407.6*HOURS_TO_SECONDS)),   
    3.70                                
}

◆ METERS_TO_AU

const floating_point warpos::METERS_TO_AU = 1.0/149597870700.0

◆ METERS_TO_FEET

const floating_point warpos::METERS_TO_FEET = 3.28084

◆ METERS_TO_INCHES

const floating_point warpos::METERS_TO_INCHES = METERS_TO_FEET*12.0

◆ METERS_TO_KM

const floating_point warpos::METERS_TO_KM = 0.001

◆ METERS_TO_NAUTICAL_MILES

const double warpos::METERS_TO_NAUTICAL_MILES = 1.0/1852.0

◆ MICROSECONDS_TO_MILLISECONDS

const floating_point warpos::MICROSECONDS_TO_MILLISECONDS = 1.0/1000.0

◆ MICROSECONDS_TO_NANOSECONDS

const floating_point warpos::MICROSECONDS_TO_NANOSECONDS = 1000.0

◆ MICROSECONDS_TO_SECONDS

const floating_point warpos::MICROSECONDS_TO_SECONDS = 1.0 / SECONDS_TO_MICROSECONDS

◆ MILLIBAR_TO_PASCAL

const floating_point warpos::MILLIBAR_TO_PASCAL = 100.0

◆ MILLISECONDS_TO_NANOSECONDS

const floating_point warpos::MILLISECONDS_TO_NANOSECONDS = 1000000.0

◆ MINIMUM_COV_DIAG_EPSILON

const floating_point warpos::MINIMUM_COV_DIAG_EPSILON = 1e-6

◆ MINUTES_TO_SECONDS

const floating_point warpos::MINUTES_TO_SECONDS = 60.0

◆ moon_nasa

PlanetDefaults warpos::moon_nasa

Initial value:

                         = {
    "MOON",            
    1738100.0,                          
    0.0012,                             
    4.90e12,                            
    0.0002027,                          
    0.0,                                
    static_cast<floating_point>(TWO_PI/(655.720*HOURS_TO_SECONDS)),  
    1.62                                
}

◆ NANOSECONDS_TO_MILLISECONDS

const floating_point warpos::NANOSECONDS_TO_MILLISECONDS = 1.0 / MILLISECONDS_TO_NANOSECONDS

◆ NANOSECONDS_TO_SECONDS

const floating_point warpos::NANOSECONDS_TO_SECONDS = 1.0 / SECONDS_TO_NANOSECONDS

◆ neptune_nasa

PlanetDefaults warpos::neptune_nasa

Initial value:

                            = {
    "NEPTUNE",            
    24764000.0,                         
    0.01708,                            
    6.8351e15,                          
    0.003411,                           
    0.0,                                
    static_cast<floating_point>(TWO_PI/(16.11*HOURS_TO_SECONDS)),    
    11.27                               
}

◆ NSEC_TO_BIT32

const floating_point warpos::NSEC_TO_BIT32 = (0xFFFFFFFF) / clockwerk::NSEC_PER_SEC_I

Factor to convert nanoseconds to 2^-32 seconds.

◆ PASCAL_TO_MILLIBAR

const floating_point warpos::PASCAL_TO_MILLIBAR = 1.0/MILLIBAR_TO_PASCAL

◆ PASCAL_TO_PSI

const floating_point warpos::PASCAL_TO_PSI = 1.0/PSI_TO_PASCAL

◆ POUND_FORCE_INCH_SECOND2_TO_METER2_KG

const double warpos::POUND_FORCE_INCH_SECOND2_TO_METER2_KG = 0.1129848

◆ PRINT_SIZE

const uint8 warpos::PRINT_SIZE = 200

◆ PSI_TO_PASCAL

const floating_point warpos::PSI_TO_PASCAL = 6894.7572932

◆ RADIANS_TO_DEGREES

const floating_point warpos::RADIANS_TO_DEGREES = 180.0/M_PI

◆ SECONDS_TO_MICROSECONDS

const floating_point warpos::SECONDS_TO_MICROSECONDS = 1000000.0

◆ SECONDS_TO_MILLISECONDS

const floating_point warpos::SECONDS_TO_MILLISECONDS = 1000.0

◆ SECONDS_TO_MINUTES

const floating_point warpos::SECONDS_TO_MINUTES = 1.0 / MINUTES_TO_SECONDS

◆ SECONDS_TO_NANOSECONDS

const floating_point warpos::SECONDS_TO_NANOSECONDS = 1000000000.0

◆ SPEED_OF_LIGHT

const floating_point warpos::SPEED_OF_LIGHT = 299792458.0

◆ sun_nasa

PlanetDefaults warpos::sun_nasa

Initial value:

                        = {
    "SUN",            
    695700000.0,                        
    0.00005,                            
    1.32712e20,                         
    0.0,                                
    0.0,                                
    static_cast<floating_point>(TWO_PI/(609.12*HOURS_TO_SECONDS)),   
    274.0                               
}

◆ TERM_BYTES

const uint8 warpos::TERM_BYTES[LENGTH_TERM_BYTES] = {0xBA, 0xDD, 0xAD, 0xDA}

◆ TIME_STR_SIZE

const uint8 warpos::TIME_STR_SIZE = 20

Constant for time string conversion.

◆ TWO_PI

const floating_point warpos::TWO_PI = 2.0*M_PI

◆ uranus_nasa

PlanetDefaults warpos::uranus_nasa

Initial value:

                           = {
    "URANUS",            
    25559000.0,                         
    0.02293,                            
    5.7940e15,                          
    0.00334343,                         
    0.0,                                
    static_cast<floating_point>(-TWO_PI/(17.24*HOURS_TO_SECONDS)),   
    9.01                                
}

◆ venus_nasa

PlanetDefaults warpos::venus_nasa

Initial value:

                          = {
    "VENUS",            
    6051800.0,                          
    0.0,                                
    3.2486e14,                          
    0.000004458,                        
    0.0,                                
    static_cast<floating_point>(-TWO_PI/(5832.6*HOURS_TO_SECONDS)),  
    8.87                                
}

◆ YEARS_TO_SECONDS

const floating_point warpos::YEARS_TO_SECONDS = 365.25*DAYS_TO_SECONDS

◆ ZERO_VECTOR

const clockwerk::CartesianVector< 3 > warpos::ZERO_VECTOR = clockwerk::CartesianVector<3>({0.0, 0.0, 0.0})

Zero vector.

Classes

Enumerations

Functions

Variables

Enumeration Type Documentation

◆ file_descriptors_e

◆ tlm_priority_e

Function Documentation

◆ calcAngleOfAttack()

◆ calcMachNumber()

◆ calcSideslipAngle()

◆ changeEndian() [1/2]

◆ changeEndian() [2/2]

◆ cholesky()

◆ computeCRC16()

◆ computeFletcher8Checksum()

◆ convertImuInertialCg()

◆ decorrelate()

◆ enuFromLatLonDetic()

◆ EXCLUDE_FROM_COVERAGE()

◆ GPS_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS()

◆ GPS_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS()

◆ GPS_MEASUREMENT_VECTOR_ELEMENTS()

◆ kalman_predict()

◆ kalman_takasu()

◆ kalman_udu()

◆ kalman_udu_predict()

◆ kalman_udu_scalar()

◆ llaDeticToPCR() [1/2]

◆ llaDeticToPCR() [2/2]

◆ lsame_()

◆ mateye()

◆ matmul()

◆ matmulsym()

◆ nedFromLatLonDetic()

◆ nedToLlaDetic()

◆ pcrToDeticLla()

◆ POINTING_MEASUREMENT_MEASUREMENT_NOISE_ELEMENTS()

◆ POINTING_MEASUREMENT_MEASUREMENT_VECTOR_ELEMENTS()

◆ POINTING_MEASUREMENT_OBSERVER_VECTOR_ELEMENTS()

◆ readCCSDSHeader()

◆ sgemm_()

◆ ssymm_()

◆ ssyrk_()

◆ strmm_()

◆ strsm_()

◆ symmetricrankupdate()

◆ trisolve()

◆ trisolveright()

◆ udu()

◆ validateCRC16()

◆ validateFletcher8Checksum()

◆ writeCCSDSHeader()

Variable Documentation

◆ AU_TO_METERS

◆ BOLTZMANN_CONSTANT

◆ CHAR_L

◆ CHAR_N

◆ CHAR_R

◆ CHAR_T

◆ CHAR_U

◆ DAYS_TO_SECONDS

◆ defined_planet_defaults

◆ DEGREES_TO_RADIANS

◆ earth_wgs84

◆ FEET_TO_METERS

◆ FILE_NAME_MAX

◆ HOURS_TO_SECONDS

◆ INCHES_TO_METERS

◆ INERTIAL_NAV_RATES_VECTOR_SIZE

◆ INERTIAL_NAVIGATION_STATE_VECTOR_ELEMENTS

◆ jupiter_nasa

◆ KG_TO_LBS

◆ KM_TO_METERS

◆ LBS_TO_KG

◆ LENGTH_TERM_BYTES

◆ mars_nasa

◆ mercury_nasa

◆ METERS_TO_AU

◆ METERS_TO_FEET