HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: solaESKF.hpp

Revision:
65:c25d7810de44
Parent:
62:5519d34eb6e8
Child:
69:2b2815603e5a
Child:
70:d12e46fdc2f0
--- a/solaESKF.hpp	Wed Nov 17 01:40:33 2021 +0000
+++ b/solaESKF.hpp	Thu Nov 18 00:50:38 2021 +0000
@@ -63,7 +63,8 @@
     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 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();