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