AHRS
Dependencies: Eigen
EKF_RPY.h@21:31e01d3e0143, 2019-10-21 (annotated)
- Committer:
- altb2
- Date:
- Mon Oct 21 17:14:27 2019 +0000
- Revision:
- 21:31e01d3e0143
- Child:
- 22:495a419e474c
Added EKF_RP, EKF_RPY from pmic, also EIgen Library
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 21:31e01d3e0143 | 1 | #ifndef EKF_RPY_H_ |
altb2 | 21:31e01d3e0143 | 2 | #define EKF_RPY_H_ |
altb2 | 21:31e01d3e0143 | 3 | |
altb2 | 21:31e01d3e0143 | 4 | #include <mbed.h> |
altb2 | 21:31e01d3e0143 | 5 | #include "Eigen/Dense.h" |
altb2 | 21:31e01d3e0143 | 6 | |
altb2 | 21:31e01d3e0143 | 7 | using namespace Eigen; |
altb2 | 21:31e01d3e0143 | 8 | |
altb2 | 21:31e01d3e0143 | 9 | class EKF_RPY |
altb2 | 21:31e01d3e0143 | 10 | { |
altb2 | 21:31e01d3e0143 | 11 | public: |
altb2 | 21:31e01d3e0143 | 12 | |
altb2 | 21:31e01d3e0143 | 13 | EKF_RPY(float Ts, float mx0, float my0, float mz0); |
altb2 | 21:31e01d3e0143 | 14 | EKF_RPY(float Ts); |
altb2 | 21:31e01d3e0143 | 15 | void set_m0(float,float,float); |
altb2 | 21:31e01d3e0143 | 16 | |
altb2 | 21:31e01d3e0143 | 17 | virtual ~EKF_RPY(); |
altb2 | 21:31e01d3e0143 | 18 | |
altb2 | 21:31e01d3e0143 | 19 | void reset(); |
altb2 | 21:31e01d3e0143 | 20 | float get_est_state(uint8_t i); |
altb2 | 21:31e01d3e0143 | 21 | void update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y); |
altb2 | 21:31e01d3e0143 | 22 | |
altb2 | 21:31e01d3e0143 | 23 | private: |
altb2 | 21:31e01d3e0143 | 24 | |
altb2 | 21:31e01d3e0143 | 25 | Matrix <float, 3, 1> m0; |
altb2 | 21:31e01d3e0143 | 26 | |
altb2 | 21:31e01d3e0143 | 27 | float s1; |
altb2 | 21:31e01d3e0143 | 28 | float c1; |
altb2 | 21:31e01d3e0143 | 29 | float s2; |
altb2 | 21:31e01d3e0143 | 30 | float c2; |
altb2 | 21:31e01d3e0143 | 31 | float s3; |
altb2 | 21:31e01d3e0143 | 32 | float c3; |
altb2 | 21:31e01d3e0143 | 33 | |
altb2 | 21:31e01d3e0143 | 34 | float g; |
altb2 | 21:31e01d3e0143 | 35 | float kv; |
altb2 | 21:31e01d3e0143 | 36 | float Ts; |
altb2 | 21:31e01d3e0143 | 37 | float rho; |
altb2 | 21:31e01d3e0143 | 38 | Matrix <float, 4, 1> var_gy; |
altb2 | 21:31e01d3e0143 | 39 | Matrix <float, 8, 1> var_fx; |
altb2 | 21:31e01d3e0143 | 40 | |
altb2 | 21:31e01d3e0143 | 41 | Matrix <float, 3, 1> u; |
altb2 | 21:31e01d3e0143 | 42 | Matrix <float, 4, 1> y; |
altb2 | 21:31e01d3e0143 | 43 | Matrix <float, 8, 1> x; |
altb2 | 21:31e01d3e0143 | 44 | Matrix <float, 8, 8> F; |
altb2 | 21:31e01d3e0143 | 45 | Matrix <float, 4, 8> H; |
altb2 | 21:31e01d3e0143 | 46 | Matrix <float, 8, 8> Q; |
altb2 | 21:31e01d3e0143 | 47 | Matrix <float, 4, 4> R; |
altb2 | 21:31e01d3e0143 | 48 | Matrix <float, 8, 8> P; |
altb2 | 21:31e01d3e0143 | 49 | Matrix <float, 8, 4> K; |
altb2 | 21:31e01d3e0143 | 50 | Matrix <float, 8, 8> I; |
altb2 | 21:31e01d3e0143 | 51 | |
altb2 | 21:31e01d3e0143 | 52 | void update_angles(); |
altb2 | 21:31e01d3e0143 | 53 | void calc_F(); |
altb2 | 21:31e01d3e0143 | 54 | void calc_H(); |
altb2 | 21:31e01d3e0143 | 55 | void initialize_R(); |
altb2 | 21:31e01d3e0143 | 56 | void initialize_Q(); |
altb2 | 21:31e01d3e0143 | 57 | void calc_Q(); |
altb2 | 21:31e01d3e0143 | 58 | |
altb2 | 21:31e01d3e0143 | 59 | Matrix <float, 8, 1> fxd(); |
altb2 | 21:31e01d3e0143 | 60 | Matrix <float, 4, 1> gy(); |
altb2 | 21:31e01d3e0143 | 61 | |
altb2 | 21:31e01d3e0143 | 62 | }; |
altb2 | 21:31e01d3e0143 | 63 | |
altb2 | 21:31e01d3e0143 | 64 | #endif |