Diff: solaESKF.hpp

Revision:

74:f5fe7fecbd3c

Parent:

73:5770a0d470c0

Child:

75:e2c825cdc511

diff -r 5770a0d470c0 -r f5fe7fecbd3c solaESKF.hpp
--- a/solaESKF.hpp	Sun Nov 21 08:24:40 2021 +0000
+++ b/solaESKF.hpp	Mon Nov 22 09:51:36 2021 +0000
@@ -20,8 +20,7 @@
     Matrix accBias;
     Matrix gyroBias;
     Matrix gravity;
-    Matrix magBias;
-    float magRadius;
+
 
 
     Matrix errState;
@@ -30,7 +29,6 @@
 
     void setDiag(Matrix& mat, float val);
     void setBlockDiag(Matrix& mat, float val,int startIndex, int endIndex);
-    float wrap_pi(float x);
 
 public:
 
@@ -42,8 +40,6 @@
     Matrix getAccBias();
     Matrix getGyroBias();
     Matrix getGravity();
-    Matrix getMagBias();
-    float getMagRadius();
     Matrix getErrState();
 
     void setPhatPosition(float val);
@@ -52,23 +48,17 @@
     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 updateOtherConstraints(Matrix mag,float palt,Matrix R);
+    void updateGPSPosition(Matrix posgps,float palt,Matrix R);
     void updateAcc(Matrix acc,Matrix R); 
-    void updateMag(Matrix mag,Matrix R);
-    void updateHeading(float a,Matrix R);   
+    void updateHeading(float a,Matrix R);  
     void fuseErr2Nominal();
     
     void computeDcm(Matrix& dcm, Matrix quat);