modules/woz_aliro/src/aliro_approach.c
asxeem/openaliro
Module

aliro_approach.c

modules/woz_aliro/src/aliro_approach.c2 documented symbols

depends on aliro_approach.h

API

Fstatic bool kf_update(struct aliro_approach *ap, int64_t now_ms, int32_t cm)

modules/woz_aliro/src/aliro_approach.c:46

Time update always (time really passed), measurement update only inside the innovation gate. Returns true when the sample updated the estimate.

called by aliro_approach_feed  ·  calls kf_rebase

Fstatic int32_t range_median(const int32_t *win, int n)

modules/woz_aliro/src/aliro_approach.c:101

Median of the first n samples of win (n in [1, ALIRO_APPROACH_MEDIAN_N]). Rejects the metre-scale spikes in the per-block UWB distance without the lag of a running average.

called by aliro_approach_feed
Undocumented (11)

kf_rebase, aliro_approach_defaults, aliro_approach_init, pred_abort, aliro_approach_feed, aliro_approach_tick, aliro_approach_gone, aliro_approach_locked, aliro_approach_est_cm, aliro_approach_vel_cm_s, aliro_approach_eta_ms