Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: solaESKF.hpp
- Revision:
- 56:c10f1168bd4a
- Parent:
- 55:21611d4cf7e8
- Child:
- 57:e4a38231cfb4
diff -r 21611d4cf7e8 -r c10f1168bd4a solaESKF.hpp --- a/solaESKF.hpp Mon Nov 08 09:19:55 2021 +0000 +++ b/solaESKF.hpp Wed Nov 10 05:21:36 2021 +0000 @@ -7,6 +7,7 @@ #define M_PI 3.141592f +extern Serial twelite; class solaESKF { @@ -19,6 +20,7 @@ Matrix accBias; Matrix gyroBias; Matrix gravity; + Matrix magField; Matrix errState; Matrix Phat; @@ -37,6 +39,7 @@ Matrix getAccBias(); Matrix getGyroBias(); Matrix getGravity(); + Matrix getMagField(); Matrix getErrState(); void setPhatPosition(float val); @@ -45,24 +48,23 @@ void setPhatAccBias(float val); void setPhatGyroBias(float val); void setPhatGravity(float val); + void setPhatMagField(float val); void setQVelocity(float val); void setQAngleError(float val); void setQAccBias(float val); void setQGyroBias(float val); + void setQMagField(float val); void updateNominal(Matrix acc,Matrix gyro, float att_dt); void updateErrState(Matrix acc,Matrix gyro, float att_dt); - void updateGPSVelocity(Matrix velgps,Matrix R); - void updateGPSPosition(Matrix posgps,Matrix R); - void updateGPS(Matrix posgps,Matrix velgps,Matrix R); - void updateAccConstraints(Matrix acc,float palt,Matrix R); - void updateGyroConstraints(Matrix gyro,Matrix R); - void updateMag(Matrix mag,Matrix R); + void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R); + void updateImuConstraints(Matrix acc,Matrix mag,Matrix R); void fuseErr2Nominal(); void computeDcm(Matrix& dcm, Matrix quat); void setQhat(float ex,float ey,float ez); void setGravity(float gx,float gy,float gz); + void setMagField(float mx,float my,float mz); void setPihat(float pi_x, float pi_y, float pi_z); @@ -71,4 +73,10 @@ }; -#endif \ No newline at end of file +#endif + + //void updateGPSVelocity(Matrix velgps,Matrix R); + //void updateGPSPosition(Matrix posgps,Matrix R); + //void updateGyroConstraints(Matrix gyro,Matrix R); + //void updateMag(Matrix mag,Matrix R); + //void updateAccConstraints(Matrix acc,float palt,Matrix R); \ No newline at end of file