Developers_of_anti_slip_compensator / SENSOR_FUSION

20160814

Fork of SENSOR_FUSION by LDSC_Robotics_TAs

SENSOR_FUSION.h@0:e493567c21ac, 2016-04-28 (annotated)

Committer:
adam_z
Date:
Thu Apr 28 09:08:53 2016 +0000
Revision:
0:e493567c21ac
This lib is in the form of global variables and functions instead of classes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
adam_z 0:e493567c21ac 1 #ifndef SENSOR_FUSION_H
adam_z 0:e493567c21ac 2 #define SENSOR_FUSION_H
adam_z 0:e493567c21ac 3
adam_z 0:e493567c21ac 4
adam_z 0:e493567c21ac 5
adam_z 0:e493567c21ac 6 extern int conv_init;
adam_z 0:e493567c21ac 7
adam_z 0:e493567c21ac 8 extern float axm;
adam_z 0:e493567c21ac 9 extern float aym ;
adam_z 0:e493567c21ac 10 extern float azm;
adam_z 0:e493567c21ac 11 extern float u1;
adam_z 0:e493567c21ac 12 extern float u2;
adam_z 0:e493567c21ac 13 extern float u3;
adam_z 0:e493567c21ac 14 extern float mx;
adam_z 0:e493567c21ac 15 extern float my;
adam_z 0:e493567c21ac 16 extern float mz;
adam_z 0:e493567c21ac 17
adam_z 0:e493567c21ac 18 extern float axm_f;
adam_z 0:e493567c21ac 19 extern float axm_f_old;
adam_z 0:e493567c21ac 20 extern float u3aym_f;
adam_z 0:e493567c21ac 21 extern float u3aym_f_old;
adam_z 0:e493567c21ac 22 extern float u2azm_f;
adam_z 0:e493567c21ac 23 extern float u2azm_f_old;
adam_z 0:e493567c21ac 24
adam_z 0:e493567c21ac 25 extern float aym_f;
adam_z 0:e493567c21ac 26 extern float aym_f_old;
adam_z 0:e493567c21ac 27 extern float u3axm_f;
adam_z 0:e493567c21ac 28 extern float u3axm_f_old;
adam_z 0:e493567c21ac 29 extern float u1azm_f;
adam_z 0:e493567c21ac 30 extern float u1azm_f_old;
adam_z 0:e493567c21ac 31
adam_z 0:e493567c21ac 32 extern float u2axm_f;
adam_z 0:e493567c21ac 33 extern float u2axm_f_old;
adam_z 0:e493567c21ac 34 extern float u1aym_f;
adam_z 0:e493567c21ac 35 extern float u1aym_f_old;
adam_z 0:e493567c21ac 36 extern float azm_f;
adam_z 0:e493567c21ac 37 extern float azm_f_old;
adam_z 0:e493567c21ac 38
adam_z 0:e493567c21ac 39
adam_z 0:e493567c21ac 40 extern float x1_hat ;
adam_z 0:e493567c21ac 41 extern float x2_hat;
adam_z 0:e493567c21ac 42 extern float x3_hat;
adam_z 0:e493567c21ac 43 extern float cospitch;
adam_z 0:e493567c21ac 44 extern float pitch_angle;
adam_z 0:e493567c21ac 45 extern float roll_angle ;
adam_z 0:e493567c21ac 46
adam_z 0:e493567c21ac 47 extern float omega_phi;
adam_z 0:e493567c21ac 48
adam_z 0:e493567c21ac 49 extern float lpf(float in, float out_old, float alpha, float Ts);
adam_z 0:e493567c21ac 50 extern void pitch_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_2,float alpha, float Ts);
adam_z 0:e493567c21ac 51 extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha, float Ts);
adam_z 0:e493567c21ac 52 extern void x3_hat_estimat(float a_xm,float a_ym,float a_zm,float u_2,float u_1,float alpha, float Ts);
adam_z 0:e493567c21ac 53 #endif