altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

ekf.h@8:51062bb877f0, 2019-07-05 (annotated)

Committer:
altb2
Date:
Fri Jul 05 06:56:19 2019 +0000
Revision:
8:51062bb877f0
Parent:
4:3c21fb0c9e84 
Anpassungen Parameter fuer QK2, Alg. unveraendert

Who changed what in which revision?

UserRevisionLine numberNew contents of line
altb2 4:3c21fb0c9e84 1
altb2 4:3c21fb0c9e84 2 #ifndef EKF_H_
altb2 4:3c21fb0c9e84 3 #define EKF_H_
altb2 4:3c21fb0c9e84 4
altb2 4:3c21fb0c9e84 5 #include <mbed.h>
altb2 4:3c21fb0c9e84 6 #include "matrix.h"
altb2 4:3c21fb0c9e84 7
altb2 4:3c21fb0c9e84 8 class ekf
altb2 4:3c21fb0c9e84 9 {
altb2 4:3c21fb0c9e84 10 public:
altb2 4:3c21fb0c9e84 11
altb2 4:3c21fb0c9e84 12 ekf(float);
altb2 4:3c21fb0c9e84 13 virtual ~ekf();
altb2 4:3c21fb0c9e84 14 float get_est_state(uint8_t);
altb2 4:3c21fb0c9e84 15 void loop(matrix *);
altb2 4:3c21fb0c9e84 16 void display_matrix(char);
altb2 4:3c21fb0c9e84 17 float getYaw(void){
altb2 4:3c21fb0c9e84 18 return 0;
altb2 4:3c21fb0c9e84 19 }
altb2 4:3c21fb0c9e84 20 private:
altb2 4:3c21fb0c9e84 21 matrix x;
altb2 4:3c21fb0c9e84 22 matrix x_km;
altb2 4:3c21fb0c9e84 23 matrix P;
altb2 4:3c21fb0c9e84 24 matrix Q;
altb2 4:3c21fb0c9e84 25 matrix R;
altb2 4:3c21fb0c9e84 26 matrix F;
altb2 4:3c21fb0c9e84 27 matrix H;
altb2 4:3c21fb0c9e84 28 matrix K;
altb2 4:3c21fb0c9e84 29 matrix E;
altb2 4:3c21fb0c9e84 30 float g,tau_g,m,itau_g,k1,kdm;
altb2 4:3c21fb0c9e84 31 float Ts;
altb2 4:3c21fb0c9e84 32 void dgl(matrix *);
altb2 4:3c21fb0c9e84 33 };
altb2 4:3c21fb0c9e84 34
altb2 4:3c21fb0c9e84 35 #endif