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();