Diff: solaESKF.hpp

Revision:

75:e2c825cdc511

Parent:

74:f5fe7fecbd3c

Child:

76:cd1b21936ef1

diff -r f5fe7fecbd3c -r e2c825cdc511 solaESKF.hpp
--- a/solaESKF.hpp	Mon Nov 22 09:51:36 2021 +0000
+++ b/solaESKF.hpp	Mon Nov 29 09:45:20 2021 +0000
@@ -57,6 +57,7 @@
     void updateErrState(Matrix acc,Matrix gyro, float att_dt);
     void updateGPS(Matrix posgps,float palt,Matrix velgps,Matrix R);
     void updateGPSPosition(Matrix posgps,float palt,Matrix R);
+    void updateGPSVelocity(Matrix velgps,Matrix R);
     void updateAcc(Matrix acc,Matrix R); 
     void updateHeading(float a,Matrix R);  
     void fuseErr2Nominal();
@@ -64,6 +65,7 @@
     void computeDcm(Matrix& dcm, Matrix quat);
     void setQhat(float ex,float ey,float ez);
     void setGravity(float gx,float gy,float gz);
+    Matrix calcDynAcc(Matrix acc);
     
     void setPihat(float pi_x, float pi_y);