State machine and Kalman filter for approach detection and predictive unlock. More...

#include <aliro_approach.h>

Collaboration diagram for aliro_approach:

Detailed Description

State machine and Kalman filter for approach detection and predictive unlock.

locked: bolt mirror state. win/wlen/wpos: median filter for distance. near_dwell/far_dwell: hysteresis counters. kf_init/accepted/rejects/last_ms/d/v/p00/p01/p11: constant-velocity Kalman filter (distance cm, velocity cm/s; negative velocity = closing). pred_dwell/pred_open/pred_deadline_ms/eta_ms: predictive unlock path (fires when closing speed >= vmin_cm_s and ETA to unlock_cm is within motor_ms + margin_ms).

The documentation for this struct was generated from the following file:

modules/woz_aliro/include/aliro_approach.h