HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: solaESKF.hpp

Revision:
83:8f6ae61d47ac
Parent:
82:662b810155e9
Child:
84:fb14acabefd3
--- a/solaESKF.hpp	Wed Jun 29 01:39:26 2022 +0000
+++ b/solaESKF.hpp	Wed Jun 29 07:56:42 2022 +0000
@@ -64,7 +64,7 @@
     void updateGPSVelocity(Vector3f velgps, Matrix3f R);
     void updateAcc(Vector3f acc, Matrix3f R); 
     void updateHeading(float a, Matrix<float, 1, 1> R);  
-    void updateIMU(Vector3f acc,float heading, Matrix<float, 4, 4> R);
+    void updateIMU(float palt,Vector3f acc,float heading, Matrix<float, 5, 5> R);
     void updateWhole(Vector3f posgps,float palt, Vector3f velgps, Vector3f acc,float heading, MatrixXf R);
     void fuseErr2Nominal();