Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 69:2b2815603e5a
- Parent:
- 65:c25d7810de44
--- a/solaESKF.hpp Thu Nov 18 10:10:07 2021 +0000 +++ b/solaESKF.hpp Fri Nov 19 05:44:14 2021 +0000 @@ -21,7 +21,6 @@ Matrix gyroBias; Matrix gravity; Matrix magBias; - float magRadius; Matrix errState; @@ -42,7 +41,6 @@ Matrix getGyroBias(); Matrix getGravity(); Matrix getMagBias(); - float getMagRadius(); Matrix getErrState(); void setPhatPosition(float val); @@ -52,19 +50,16 @@ void setPhatGyroBias(float val); void setPhatGravity(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 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 R); void updateImuConstraints(Matrix acc,Matrix mag,Matrix R); - void updateOtherConstraints(Matrix mag,float palt,Matrix R); void updateAcc(Matrix acc,Matrix R); void updateMag(Matrix mag,Matrix R); void fuseErr2Nominal();