Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
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);