HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: solaESKF.hpp

Revision:
70:d12e46fdc2f0
Parent:
65:c25d7810de44
Child:
71:56c32be982b8
--- a/solaESKF.hpp	Thu Nov 18 10:10:07 2021 +0000
+++ b/solaESKF.hpp	Fri Nov 19 08:21:44 2021 +0000
@@ -7,7 +7,7 @@
 
 #define M_PI 3.141592f
 
-extern Serial twelite;
+//extern Serial twelite;
 
 class solaESKF
 {
@@ -66,7 +66,8 @@
     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 updateMag(Matrix mag,Matrix R);
+    void updateHeading(Matrix mag,Matrix R);   
     void fuseErr2Nominal();
     
     void computeDcm(Matrix& dcm, Matrix quat);