HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

solaESKF.hpp@56:c10f1168bd4a, 2021-11-10 (annotated)

Committer:
NaotoMorita
Date:
Wed Nov 10 05:21:36 2021 +0000
Revision:
56:c10f1168bd4a
Parent:
55:21611d4cf7e8
Child:
57:e4a38231cfb4
imu update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
NaotoMorita 44:7d82e63b6a86 1 #ifndef __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 2 #define __solaESKF_HPP__
NaotoMorita 44:7d82e63b6a86 3
NaotoMorita 44:7d82e63b6a86 4 #include "Matrix.h"
NaotoMorita 54:cd514d9d4b19 5 #include "MatrixMath.h"
NaotoMorita 54:cd514d9d4b19 6 #include <cmath>
NaotoMorita 44:7d82e63b6a86 7
NaotoMorita 44:7d82e63b6a86 8 #define M_PI 3.141592f
NaotoMorita 44:7d82e63b6a86 9
NaotoMorita 56:c10f1168bd4a 10 extern Serial twelite;
NaotoMorita 44:7d82e63b6a86 11
NaotoMorita 44:7d82e63b6a86 12 class solaESKF
NaotoMorita 44:7d82e63b6a86 13 {
NaotoMorita 44:7d82e63b6a86 14 private:
NaotoMorita 44:7d82e63b6a86 15
NaotoMorita 44:7d82e63b6a86 16 int nState;
NaotoMorita 44:7d82e63b6a86 17 Matrix pihat;
NaotoMorita 44:7d82e63b6a86 18 Matrix vihat;
NaotoMorita 44:7d82e63b6a86 19 Matrix qhat;
NaotoMorita 44:7d82e63b6a86 20 Matrix accBias;
NaotoMorita 44:7d82e63b6a86 21 Matrix gyroBias;
NaotoMorita 44:7d82e63b6a86 22 Matrix gravity;
NaotoMorita 56:c10f1168bd4a 23 Matrix magField;
NaotoMorita 44:7d82e63b6a86 24
NaotoMorita 44:7d82e63b6a86 25 Matrix errState;
NaotoMorita 44:7d82e63b6a86 26 Matrix Phat;
NaotoMorita 44:7d82e63b6a86 27 Matrix Q;
NaotoMorita 44:7d82e63b6a86 28
NaotoMorita 47:2467de40951f 29 void setDiag(Matrix& mat, float val);
NaotoMorita 47:2467de40951f 30 void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
NaotoMorita 47:2467de40951f 31
NaotoMorita 47:2467de40951f 32 public:
NaotoMorita 47:2467de40951f 33
NaotoMorita 44:7d82e63b6a86 34 solaESKF();
NaotoMorita 44:7d82e63b6a86 35
NaotoMorita 47:2467de40951f 36 Matrix getPihat();
NaotoMorita 47:2467de40951f 37 Matrix getVihat();
NaotoMorita 47:2467de40951f 38 Matrix getQhat();
NaotoMorita 47:2467de40951f 39 Matrix getAccBias();
NaotoMorita 47:2467de40951f 40 Matrix getGyroBias();
NaotoMorita 47:2467de40951f 41 Matrix getGravity();
NaotoMorita 56:c10f1168bd4a 42 Matrix getMagField();
NaotoMorita 47:2467de40951f 43 Matrix getErrState();
NaotoMorita 47:2467de40951f 44
NaotoMorita 47:2467de40951f 45 void setPhatPosition(float val);
NaotoMorita 47:2467de40951f 46 void setPhatVelocity(float val);
NaotoMorita 47:2467de40951f 47 void setPhatAngleError(float val);
NaotoMorita 47:2467de40951f 48 void setPhatAccBias(float val);
NaotoMorita 47:2467de40951f 49 void setPhatGyroBias(float val);
NaotoMorita 47:2467de40951f 50 void setPhatGravity(float val);
NaotoMorita 56:c10f1168bd4a 51 void setPhatMagField(float val);
NaotoMorita 47:2467de40951f 52 void setQVelocity(float val);
NaotoMorita 47:2467de40951f 53 void setQAngleError(float val);
NaotoMorita 47:2467de40951f 54 void setQAccBias(float val);
NaotoMorita 47:2467de40951f 55 void setQGyroBias(float val);
NaotoMorita 56:c10f1168bd4a 56 void setQMagField(float val);
NaotoMorita 47:2467de40951f 57
NaotoMorita 44:7d82e63b6a86 58 void updateNominal(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 44:7d82e63b6a86 59 void updateErrState(Matrix acc,Matrix gyro, float att_dt);
NaotoMorita 56:c10f1168bd4a 60 void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 61 void updateImuConstraints(Matrix acc,Matrix mag,Matrix R);
NaotoMorita 44:7d82e63b6a86 62 void fuseErr2Nominal();
NaotoMorita 44:7d82e63b6a86 63
NaotoMorita 44:7d82e63b6a86 64 void computeDcm(Matrix& dcm, Matrix quat);
NaotoMorita 44:7d82e63b6a86 65 void setQhat(float ex,float ey,float ez);
NaotoMorita 44:7d82e63b6a86 66 void setGravity(float gx,float gy,float gz);
NaotoMorita 56:c10f1168bd4a 67 void setMagField(float mx,float my,float mz);
NaotoMorita 44:7d82e63b6a86 68
osaka 51:a5af3b280d23 69 void setPihat(float pi_x, float pi_y, float pi_z);
osaka 51:a5af3b280d23 70
NaotoMorita 44:7d82e63b6a86 71 Matrix computeAngles();
NaotoMorita 44:7d82e63b6a86 72 Matrix quatmultiply(Matrix p, Matrix q);
NaotoMorita 44:7d82e63b6a86 73
NaotoMorita 44:7d82e63b6a86 74 };
NaotoMorita 44:7d82e63b6a86 75
NaotoMorita 56:c10f1168bd4a 76 #endif
NaotoMorita 56:c10f1168bd4a 77
NaotoMorita 56:c10f1168bd4a 78 //void updateGPSVelocity(Matrix velgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 79 //void updateGPSPosition(Matrix posgps,Matrix R);
NaotoMorita 56:c10f1168bd4a 80 //void updateGyroConstraints(Matrix gyro,Matrix R);
NaotoMorita 56:c10f1168bd4a 81 //void updateMag(Matrix mag,Matrix R);
NaotoMorita 56:c10f1168bd4a 82 //void updateAccConstraints(Matrix acc,float palt,Matrix R);