Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 46:15988dc41923
- Parent:
- 45:df4618814803
- Child:
- 47:2467de40951f
--- a/solaESKF.hpp Tue Oct 26 05:36:11 2021 +0000 +++ b/solaESKF.hpp Thu Oct 28 09:44:34 2021 +0000 @@ -31,7 +31,11 @@ void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex); void updateNominal(Matrix acc,Matrix gyro, float att_dt); void updateErrState(Matrix acc,Matrix gyro, float att_dt); - + void updateGPSVelocity(Matrix velgps,Matrix R); + void updateGPSPosition(Matrix posgps,Matrix R); + void updateGPS(Matrix posgps,Matrix velgps,Matrix R); + void updateAccConstraints(Matrix acc,Matrix R); + void updateGyroConstraints(Matrix gyro,Matrix R); void fuseErr2Nominal(); void computeDcm(Matrix& dcm, Matrix quat);