HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: solaESKF.hpp

Revision:
73:5770a0d470c0
Parent:
71:56c32be982b8
Child:
74:f5fe7fecbd3c
--- a/solaESKF.hpp	Fri Nov 19 14:24:09 2021 +0000
+++ b/solaESKF.hpp	Sun Nov 21 08:24:40 2021 +0000
@@ -30,6 +30,7 @@
 
     void setDiag(Matrix& mat, float val);
     void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
+    float wrap_pi(float x);
 
 public:
 
@@ -67,7 +68,7 @@
     void updateOtherConstraints(Matrix mag,float palt,Matrix R);
     void updateAcc(Matrix acc,Matrix R); 
     void updateMag(Matrix mag,Matrix R);
-    void updateHeading(Matrix mag,Matrix R);   
+    void updateHeading(float a,Matrix R);   
     void fuseErr2Nominal();
     
     void computeDcm(Matrix& dcm, Matrix quat);