Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 59:03fe5e16a33c
- Parent:
- 58:93ba28cf5cb3
- Child:
- 60:f4b4231a8d3f
--- a/solaESKF.hpp Fri Nov 12 09:03:10 2021 +0000 +++ b/solaESKF.hpp Mon Nov 15 13:41:40 2021 +0000 @@ -20,7 +20,9 @@ Matrix accBias; Matrix gyroBias; Matrix gravity; - Matrix magField; + Matrix magBias; + float magRadius; + Matrix errState; Matrix Phat; @@ -39,7 +41,8 @@ Matrix getAccBias(); Matrix getGyroBias(); Matrix getGravity(); - Matrix getMagField(); + Matrix getMagBias(); + float getMagRadius(); Matrix getErrState(); void setPhatPosition(float val); @@ -48,26 +51,24 @@ void setPhatAccBias(float val); void setPhatGyroBias(float val); void setPhatGravity(float val); - void setPhatMagField(float val); + void setPhatMagBias(float val); + void setPhatMagRadius(float val); void setQVelocity(float val); void setQAngleError(float val); void setQAccBias(float val); void setQGyroBias(float val); - void setQMagField(float val); + void setQMagBias(float val); + void setQMagRadius(float val); void updateNominal(Matrix acc,Matrix gyro, float att_dt); void updateErrState(Matrix acc,Matrix gyro, float att_dt); - void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix mag,Matrix R); - void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R); - void updateGPSPosition(Matrix posgps,float palt,Matrix R); + void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R); void updateImuConstraints(Matrix acc,Matrix mag,Matrix R); - void updateMag(Matrix mag,float palt,Matrix R); void fuseErr2Nominal(); void computeDcm(Matrix& dcm, Matrix quat); void setQhat(float ex,float ey,float ez); void setGravity(float gx,float gy,float gz); - void setMagField(float mx,float my,float mz); void setPihat(float pi_x, float pi_y); @@ -82,4 +83,7 @@ //void updateGPSPosition(Matrix posgps,Matrix R); //void updateGyroConstraints(Matrix gyro,Matrix R); //void updateMag(Matrix mag,Matrix R); - //void updateAccConstraints(Matrix acc,float palt,Matrix R); \ No newline at end of file + //void updateAccConstraints(Matrix acc,float palt,Matrix R); + //void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R); + //void updateGPSPosition(Matrix posgps,float palt,Matrix R); + // void updateMag(Matrix mag,float palt,Matrix R); \ No newline at end of file