LDSC_Robotics_TAs / SENSOR_FUSION

(global variables) sensor fusion

Dependents:   WIPV

Diff: SENSOR_FUSION.h

Revision:
0:e493567c21ac
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/SENSOR_FUSION.h	Thu Apr 28 09:08:53 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef SENSOR_FUSION_H
+#define SENSOR_FUSION_H
+
+
+
+extern int conv_init;
+
+extern float axm;
+extern float aym ;
+extern float azm;
+extern float u1;
+extern float u2;
+extern float u3;
+extern float mx;
+extern float my;
+extern float mz;
+
+extern float axm_f;
+extern float axm_f_old;
+extern float u3aym_f;
+extern float u3aym_f_old;
+extern float u2azm_f;
+extern float u2azm_f_old;
+
+extern float aym_f;
+extern float aym_f_old;
+extern float u3axm_f;
+extern float u3axm_f_old;
+extern float u1azm_f;
+extern float u1azm_f_old;
+
+extern float u2axm_f;
+extern float u2axm_f_old;
+extern float u1aym_f;
+extern float u1aym_f_old;
+extern float azm_f;
+extern float azm_f_old;
+
+
+extern float x1_hat ;
+extern float x2_hat;
+extern float x3_hat;
+extern float cospitch;
+extern float pitch_angle;
+extern float roll_angle ;
+
+extern float omega_phi;
+
+extern float lpf(float in, float out_old, float alpha, float Ts);
+extern void pitch_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_2,float alpha, float Ts);
+extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha, float Ts);
+extern void x3_hat_estimat(float a_xm,float a_ym,float a_zm,float u_2,float u_1,float alpha, float Ts);
+#endif
\ No newline at end of file