SENSOR_FUSION.h

00001 #ifndef SENSOR_FUSION_H
00002 #define SENSOR_FUSION_H
00003 
00004 
00005 
00006 extern int conv_init;
00007 
00008 extern float axm;
00009 extern float aym ;
00010 extern float azm;
00011 extern float u1;
00012 extern float u2;
00013 extern float u3;
00014 extern float mx;
00015 extern float my;
00016 extern float mz;
00017 
00018 extern float axm_f;
00019 extern float axm_f_old;
00020 extern float u3aym_f;
00021 extern float u3aym_f_old;
00022 extern float u2azm_f;
00023 extern float u2azm_f_old;
00024 
00025 extern float aym_f;
00026 extern float aym_f_old;
00027 extern float u3axm_f;
00028 extern float u3axm_f_old;
00029 extern float u1azm_f;
00030 extern float u1azm_f_old;
00031 
00032 extern float u2axm_f;
00033 extern float u2axm_f_old;
00034 extern float u1aym_f;
00035 extern float u1aym_f_old;
00036 extern float azm_f;
00037 extern float azm_f_old;
00038 
00039 
00040 extern float x1_hat ;
00041 extern float x2_hat;
00042 extern float x3_hat;
00043 extern float cospitch;
00044 extern float pitch_angle;
00045 extern float roll_angle ;
00046 
00047 extern float omega_phi;
00048 
00049 extern float lpf(float in, float out_old, float alpha, float Ts);
00050 extern void pitch_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_2,float alpha, float Ts);
00051 extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha, float Ts);
00052 extern void x3_hat_estimat(float a_xm,float a_ym,float a_zm,float u_2,float u_1,float alpha, float Ts);
00053 #endif