HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.hpp@62:5519d34eb6e8, 2021-11-16 (annotated)

Committer:
NaotoMorita
Date:
Tue Nov 16 14:17:40 2021 +0000
Revision:
62:5519d34eb6e8
Parent:
61:5e5c4fe12440
Child:
65:c25d7810de44
magRadius Estimate

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 44:7d82e63b6a86 1 #ifndef __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 2 #define __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 3
NaotoMorita 44:7d82e63b6a86 4 #include "Matrix.h"
NaotoMorita 54:cd514d9d4b19 5 #include "MatrixMath.h"
NaotoMorita 54:cd514d9d4b19 6 #include <cmath>
NaotoMorita 44:7d82e63b6a86 7
NaotoMorita 44:7d82e63b6a86 8 #define M_PI 3.141592f
NaotoMorita 44:7d82e63b6a86 9
NaotoMorita 60:f4b4231a8d3f 10 extern Serial twelite;
NaotoMorita 44:7d82e63b6a86 11
NaotoMorita 44:7d82e63b6a86 12 class solaESKF
NaotoMorita 44:7d82e63b6a86 13 {
NaotoMorita 44:7d82e63b6a86 14 private:
NaotoMorita 44:7d82e63b6a86 15
NaotoMorita 44:7d82e63b6a86 16 int nState;
NaotoMorita 44:7d82e63b6a86 17 Matrix pihat;
NaotoMorita 44:7d82e63b6a86 18 Matrix vihat;
NaotoMorita 44:7d82e63b6a86 19 Matrix qhat;
NaotoMorita 44:7d82e63b6a86 20 Matrix accBias;
NaotoMorita 44:7d82e63b6a86 21 Matrix gyroBias;
NaotoMorita 44:7d82e63b6a86 22 Matrix gravity;
NaotoMorita 62:5519d34eb6e8 23 Matrix magBias;
NaotoMorita 62:5519d34eb6e8 24 float magRadius;
NaotoMorita 62:5519d34eb6e8 25
NaotoMorita 62:5519d34eb6e8 26
NaotoMorita 44:7d82e63b6a86 27 Matrix errState;
NaotoMorita 44:7d82e63b6a86 28 Matrix Phat;
NaotoMorita 44:7d82e63b6a86 29 Matrix Q;
NaotoMorita 62:5519d34eb6e8 30
NaotoMorita 47:2467de40951f 31 void setDiag(Matrix& mat, float val);
NaotoMorita 47:2467de40951f 32 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
NaotoMorita 62:5519d34eb6e8 33
NaotoMorita 47:2467de40951f 34 public:
NaotoMorita 62:5519d34eb6e8 35
NaotoMorita 44:7d82e63b6a86 36 solaESKF();
NaotoMorita 62:5519d34eb6e8 37
NaotoMorita 47:2467de40951f 38 Matrix getPihat();
NaotoMorita 47:2467de40951f 39 Matrix getVihat();
NaotoMorita 47:2467de40951f 40 Matrix getQhat();
NaotoMorita 47:2467de40951f 41 Matrix getAccBias();
NaotoMorita 47:2467de40951f 42 Matrix getGyroBias();
NaotoMorita 47:2467de40951f 43 Matrix getGravity();
NaotoMorita 62:5519d34eb6e8 44 Matrix getMagBias();
NaotoMorita 62:5519d34eb6e8 45 float getMagRadius();
NaotoMorita 47:2467de40951f 46 Matrix getErrState();
NaotoMorita 62:5519d34eb6e8 47
NaotoMorita 47:2467de40951f 48 void setPhatPosition(float val);
NaotoMorita 47:2467de40951f 49 void setPhatVelocity(float val);
NaotoMorita 47:2467de40951f 50 void setPhatAngleError(float val);
NaotoMorita 47:2467de40951f 51 void setPhatAccBias(float val);
NaotoMorita 47:2467de40951f 52 void setPhatGyroBias(float val);
NaotoMorita 47:2467de40951f 53 void setPhatGravity(float val);
NaotoMorita 62:5519d34eb6e8 54 void setPhatMagBias(float val);
NaotoMorita 62:5519d34eb6e8 55 void setPhatMagRadius(float val);
NaotoMorita 47:2467de40951f 56 void setQVelocity(float val);
NaotoMorita 47:2467de40951f 57 void setQAngleError(float val);
NaotoMorita 47:2467de40951f 58 void setQAccBias(float val);
NaotoMorita 47:2467de40951f 59 void setQGyroBias(float val);
NaotoMorita 62:5519d34eb6e8 60 void setQMagBias(float val);
NaotoMorita 62:5519d34eb6e8 61 void setQMagRadius(float val);
NaotoMorita 47:2467de40951f 62
NaotoMorita 44:7d82e63b6a86 63 void updateNominal(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 44:7d82e63b6a86 64 void updateErrState(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 59:03fe5e16a33c 65 void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R);
NaotoMorita 61:5e5c4fe12440 66 //void updateImuConstraints(Matrix acc,Matrix mag,Matrix R);
NaotoMorita 61:5e5c4fe12440 67 void updateAcc(Matrix acc,Matrix R);
NaotoMorita 61:5e5c4fe12440 68 void updateMag(Matrix mag,Matrix R);
NaotoMorita 44:7d82e63b6a86 69 void fuseErr2Nominal();
NaotoMorita 44:7d82e63b6a86 70
NaotoMorita 44:7d82e63b6a86 71 void computeDcm(Matrix& dcm, Matrix quat);
NaotoMorita 44:7d82e63b6a86 72 void setQhat(float ex,float ey,float ez);
NaotoMorita 44:7d82e63b6a86 73 void setGravity(float gx,float gy,float gz);
NaotoMorita 44:7d82e63b6a86 74
NaotoMorita 58:93ba28cf5cb3 75 void setPihat(float pi_x, float pi_y);
osaka 51:a5af3b280d23 76
NaotoMorita 44:7d82e63b6a86 77 Matrix computeAngles();
NaotoMorita 44:7d82e63b6a86 78 Matrix quatmultiply(Matrix p, Matrix q);
NaotoMorita 44:7d82e63b6a86 79
NaotoMorita 44:7d82e63b6a86 80 };
NaotoMorita 44:7d82e63b6a86 81
NaotoMorita 56:c10f1168bd4a 82 #endif
NaotoMorita 56:c10f1168bd4a 83
NaotoMorita 56:c10f1168bd4a 84 //void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 85 //void updateGPSPosition(Matrix posgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 86 //void updateGyroConstraints(Matrix gyro,Matrix R);
NaotoMorita 56:c10f1168bd4a 87 //void updateMag(Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 88 //void updateAccConstraints(Matrix acc,float palt,Matrix R);
NaotoMorita 59:03fe5e16a33c 89 //void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 90 //void updateGPSPosition(Matrix posgps,float palt,Matrix R);
NaotoMorita 61:5e5c4fe12440 91 //