Diff: solaESKF.hpp

Revision:

58:93ba28cf5cb3

Parent:

57:e4a38231cfb4

Child:

59:03fe5e16a33c

--- a/solaESKF.hpp	Wed Nov 10 06:33:45 2021 +0000
+++ b/solaESKF.hpp	Fri Nov 12 09:03:10 2021 +0000
@@ -57,8 +57,11 @@
     
     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 updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix mag,Matrix R);
+    void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R);
+    void updateGPSPosition(Matrix posgps,float palt,Matrix R);
     void updateImuConstraints(Matrix acc,Matrix mag,Matrix R);
+    void updateMag(Matrix mag,float palt,Matrix R);
     void fuseErr2Nominal();
     
     void computeDcm(Matrix& dcm, Matrix quat);
@@ -66,7 +69,7 @@
     void setGravity(float gx,float gy,float gz);
     void setMagField(float mx,float my,float mz);
     
-    void setPihat(float pi_x, float pi_y, float pi_z);
+    void setPihat(float pi_x, float pi_y);
     
     Matrix computeAngles();
     Matrix quatmultiply(Matrix p, Matrix q);