HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.hpp@75:e2c825cdc511, 2021-11-29 (annotated)

Committer:
NaotoMorita
Date:
Mon Nov 29 09:45:20 2021 +0000
Revision:
75:e2c825cdc511
Parent:
74:f5fe7fecbd3c
Child:
76:cd1b21936ef1
calc dyn acc

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 71:56c32be982b8 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 74:f5fe7fecbd3c 23
NaotoMorita 62:5519d34eb6e8 24
NaotoMorita 62:5519d34eb6e8 25
NaotoMorita 44:7d82e63b6a86 26 Matrix errState;
NaotoMorita 44:7d82e63b6a86 27 Matrix Phat;
NaotoMorita 44:7d82e63b6a86 28 Matrix Q;
NaotoMorita 62:5519d34eb6e8 29
NaotoMorita 47:2467de40951f 30 void setDiag(Matrix& mat, float val);
NaotoMorita 47:2467de40951f 31 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
NaotoMorita 62:5519d34eb6e8 32
NaotoMorita 47:2467de40951f 33 public:
NaotoMorita 62:5519d34eb6e8 34
NaotoMorita 44:7d82e63b6a86 35 solaESKF();
NaotoMorita 62:5519d34eb6e8 36
NaotoMorita 47:2467de40951f 37 Matrix getPihat();
NaotoMorita 47:2467de40951f 38 Matrix getVihat();
NaotoMorita 47:2467de40951f 39 Matrix getQhat();
NaotoMorita 47:2467de40951f 40 Matrix getAccBias();
NaotoMorita 47:2467de40951f 41 Matrix getGyroBias();
NaotoMorita 47:2467de40951f 42 Matrix getGravity();
NaotoMorita 47:2467de40951f 43 Matrix getErrState();
NaotoMorita 62:5519d34eb6e8 44
NaotoMorita 47:2467de40951f 45 void setPhatPosition(float val);
NaotoMorita 47:2467de40951f 46 void setPhatVelocity(float val);
NaotoMorita 47:2467de40951f 47 void setPhatAngleError(float val);
NaotoMorita 47:2467de40951f 48 void setPhatAccBias(float val);
NaotoMorita 47:2467de40951f 49 void setPhatGyroBias(float val);
NaotoMorita 47:2467de40951f 50 void setPhatGravity(float val);
NaotoMorita 47:2467de40951f 51 void setQVelocity(float val);
NaotoMorita 47:2467de40951f 52 void setQAngleError(float val);
NaotoMorita 47:2467de40951f 53 void setQAccBias(float val);
NaotoMorita 47:2467de40951f 54 void setQGyroBias(float val);
NaotoMorita 47:2467de40951f 55
NaotoMorita 44:7d82e63b6a86 56 void updateNominal(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 44:7d82e63b6a86 57 void updateErrState(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 59:03fe5e16a33c 58 void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R);
NaotoMorita 74:f5fe7fecbd3c 59 void updateGPSPosition(Matrix posgps,float palt,Matrix R);
NaotoMorita 75:e2c825cdc511 60 void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 61:5e5c4fe12440 61 void updateAcc(Matrix acc,Matrix R);
NaotoMorita 74:f5fe7fecbd3c 62 void updateHeading(float a,Matrix R);
NaotoMorita 44:7d82e63b6a86 63 void fuseErr2Nominal();
NaotoMorita 44:7d82e63b6a86 64
NaotoMorita 44:7d82e63b6a86 65 void computeDcm(Matrix& dcm, Matrix quat);
NaotoMorita 44:7d82e63b6a86 66 void setQhat(float ex,float ey,float ez);
NaotoMorita 44:7d82e63b6a86 67 void setGravity(float gx,float gy,float gz);
NaotoMorita 75:e2c825cdc511 68 Matrix calcDynAcc(Matrix acc);
NaotoMorita 44:7d82e63b6a86 69
NaotoMorita 58:93ba28cf5cb3 70 void setPihat(float pi_x, float pi_y);
osaka 51:a5af3b280d23 71
NaotoMorita 44:7d82e63b6a86 72 Matrix computeAngles();
NaotoMorita 44:7d82e63b6a86 73 Matrix quatmultiply(Matrix p, Matrix q);
NaotoMorita 44:7d82e63b6a86 74
NaotoMorita 44:7d82e63b6a86 75 };
NaotoMorita 44:7d82e63b6a86 76
NaotoMorita 56:c10f1168bd4a 77 #endif
NaotoMorita 56:c10f1168bd4a 78
NaotoMorita 56:c10f1168bd4a 79 //void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 80 //void updateGPSPosition(Matrix posgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 81 //void updateGyroConstraints(Matrix gyro,Matrix R);
NaotoMorita 56:c10f1168bd4a 82 //void updateMag(Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 83 //void updateAccConstraints(Matrix acc,float palt,Matrix R);
NaotoMorita 59:03fe5e16a33c 84 //void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R);
NaotoMorita 59:03fe5e16a33c 85 //void updateGPSPosition(Matrix posgps,float palt,Matrix R);
NaotoMorita 61:5e5c4fe12440 86 //