From bbac9b19410c378c16ad828ac0db4afb955d8f48 Mon Sep 17 00:00:00 2001
From: Emilio Corigliano <emilio.corigliano@skywarder.eu>
Date: Wed, 4 Sep 2024 12:22:34 +0200
Subject: [PATCH] [NAS] Documented NASState
Co-Authored-By: Davide Basso <davide.basso@skywarder.eu>
---
src/shared/algorithms/NAS/NASState.h | 28 ++++++++++++++--------------
1 file changed, 14 insertions(+), 14 deletions(-)
diff --git a/src/shared/algorithms/NAS/NASState.h b/src/shared/algorithms/NAS/NASState.h
index 6c5a39db9..7e3060fb0 100644
--- a/src/shared/algorithms/NAS/NASState.h
+++ b/src/shared/algorithms/NAS/NASState.h
@@ -34,25 +34,25 @@ struct NASState
// 13 extended kalman states
// Position [m]
- float n = 0;
- float e = 0;
- float d = 0;
+ float n = 0; ///< North (x)
+ float e = 0; ///< East (y)
+ float d = 0; ///< Down (z)
// Velocity [m/s]
- float vn = 0;
- float ve = 0;
- float vd = 0;
+ float vn = 0; ///< Velocity North (x)
+ float ve = 0; ///< Velocity East (y)
+ float vd = 0; ///< Velocity Down (z)
- // Attitude as quaternion
- float qx = 0;
- float qy = 0;
- float qz = 0;
- float qw = 1;
+ // Attitude as quaternion, from body to NED frame
+ float qx = 0; ///< Quaternion x
+ float qy = 0; ///< Quaternion y
+ float qz = 0; ///< Quaternion z
+ float qw = 1; ///< Quaternion w
// Gyroscope bias
- float bx = 0;
- float by = 0;
- float bz = 0;
+ float bx = 0; ///< Gyroscope bias x
+ float by = 0; ///< Gyroscope bias y
+ float bz = 0; ///< Gyroscope bias z
NASState() {}
--
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