Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 61:5e5c4fe12440
- Parent:
- 60:f4b4231a8d3f
- Child:
- 62:5519d34eb6e8
diff -r f4b4231a8d3f -r 5e5c4fe12440 solaESKF.hpp --- a/solaESKF.hpp Tue Nov 16 01:20:50 2021 +0000 +++ b/solaESKF.hpp Tue Nov 16 13:56:44 2021 +0000 @@ -20,8 +20,6 @@ Matrix accBias; Matrix gyroBias; Matrix gravity; - Matrix magBias; - float magRadius; Matrix errState; @@ -41,8 +39,6 @@ Matrix getAccBias(); Matrix getGyroBias(); Matrix getGravity(); - Matrix getMagBias(); - float getMagRadius(); Matrix getErrState(); void setPhatPosition(float val); @@ -51,19 +47,17 @@ void setPhatAccBias(float val); void setPhatGyroBias(float val); void setPhatGravity(float val); - void setPhatMagBias(float val); - void setPhatMagRadius(float val); void setQVelocity(float val); void setQAngleError(float val); void setQAccBias(float val); void setQGyroBias(float val); - void setQMagBias(float val); - void setQMagRadius(float val); 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 updateAcc(Matrix acc,Matrix R); + void updateMag(Matrix mag,Matrix R); void fuseErr2Nominal(); void computeDcm(Matrix& dcm, Matrix quat); @@ -86,4 +80,4 @@ //void updateAccConstraints(Matrix acc,float palt,Matrix R); //void updateGPSVelocity(Matrix velgps,Matrix mag,Matrix R); //void updateGPSPosition(Matrix posgps,float palt,Matrix R); - // void updateMag(Matrix mag,float palt,Matrix R); \ No newline at end of file + // \ No newline at end of file