Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
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);