43 lines
1.4 KiB
C
43 lines
1.4 KiB
C
/*
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Copyright © IQ.Lvbs, apart of Project Teal Lvbs, All Rights Reserved, licensed under https://konn3kt.com/tos
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*/
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#pragma once
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#define STATE_ECEF_POS_START 0
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#define STATE_ECEF_POS_LEN 3
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#define STATE_ECEF_ORIENTATION_START 3
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#define STATE_ECEF_ORIENTATION_LEN 4
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#define STATE_ECEF_VELOCITY_START 7
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#define STATE_ECEF_VELOCITY_LEN 3
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#define STATE_ANGULAR_VELOCITY_START 10
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#define STATE_ANGULAR_VELOCITY_LEN 3
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#define STATE_GYRO_BIAS_START 13
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#define STATE_GYRO_BIAS_LEN 3
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#define STATE_ACCELERATION_START 16
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#define STATE_ACCELERATION_LEN 3
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#define STATE_ACC_BIAS_START 19
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#define STATE_ACC_BIAS_LEN 3
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#define STATE_ECEF_POS_ERR_START 0
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#define STATE_ECEF_POS_ERR_LEN 3
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#define STATE_ECEF_ORIENTATION_ERR_START 3
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#define STATE_ECEF_ORIENTATION_ERR_LEN 3
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#define STATE_ECEF_VELOCITY_ERR_START 6
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#define STATE_ECEF_VELOCITY_ERR_LEN 3
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#define STATE_ANGULAR_VELOCITY_ERR_START 9
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#define STATE_ANGULAR_VELOCITY_ERR_LEN 3
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#define STATE_GYRO_BIAS_ERR_START 12
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#define STATE_GYRO_BIAS_ERR_LEN 3
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#define STATE_ACCELERATION_ERR_START 15
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#define STATE_ACCELERATION_ERR_LEN 3
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#define STATE_ACC_BIAS_ERR_START 18
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#define STATE_ACC_BIAS_ERR_LEN 3
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#define OBSERVATION_PHONE_GYRO 4
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#define OBSERVATION_NO_ROT 9
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#define OBSERVATION_PHONE_ACCEL 10
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#define OBSERVATION_ECEF_POS 12
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#define OBSERVATION_CAMERA_ODO_TRANSLATION 13
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#define OBSERVATION_CAMERA_ODO_ROTATION 14
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#define OBSERVATION_ECEF_ORIENTATION_FROM_GPS 32
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#define OBSERVATION_NO_ACCEL 33
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#define OBSERVATION_ECEF_VEL 35
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