altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

CF_Yaw.h@22:495a419e474c, 2019-10-28 (annotated)

Committer:
altb2
Date:
Mon Oct 28 07:52:43 2019 +0000
Revision:
22:495a419e474c
EKF_RPY and EKF_RP from pmic

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 22:495a419e474c 1 #ifndef CF_YAW_H_
altb2 22:495a419e474c 2 #define CF_YAW_H_
altb2 22:495a419e474c 3
altb2 22:495a419e474c 4 #include <mbed.h>
altb2 22:495a419e474c 5 #include "Eigen/Dense.h"
altb2 22:495a419e474c 6 #include "Data_Logger.h"
altb2 22:495a419e474c 7 #include "Read_Xtern_Sensors.h"
altb2 22:495a419e474c 8 #include "IIR_filter.h"
altb2 22:495a419e474c 9 #include "Unwrapper_2pi.h"
altb2 22:495a419e474c 10
altb2 22:495a419e474c 11 extern DATA_Xchange data;
altb2 22:495a419e474c 12
altb2 22:495a419e474c 13 using namespace Eigen;
altb2 22:495a419e474c 14
altb2 22:495a419e474c 15
altb2 22:495a419e474c 16 class CF_Yaw
altb2 22:495a419e474c 17 {
altb2 22:495a419e474c 18 public:
altb2 22:495a419e474c 19
altb2 22:495a419e474c 20 CF_Yaw(float,float);
altb2 22:495a419e474c 21
altb2 22:495a419e474c 22 virtual ~CF_Yaw();
altb2 22:495a419e474c 23 void update(float,float,float,float);
altb2 22:495a419e474c 24 private:
altb2 22:495a419e474c 25 float s1,s2,c1,c2;
altb2 22:495a419e474c 26 Matrix <float, 3, 3> R;
altb2 22:495a419e474c 27 Matrix <float, 3, 1> m;
altb2 22:495a419e474c 28 IIR_filter f_g,f_mx,f_my;
altb2 22:495a419e474c 29 Unwrapper_2pi uw2pi;
altb2 22:495a419e474c 30
altb2 22:495a419e474c 31 };
altb2 22:495a419e474c 32
altb2 22:495a419e474c 33 #endif