HAPSRG / solaESKF_Eigen

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);