altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

EKF.h@30:9b0cd3caf0ec, 2020-01-27 (annotated)

Committer:
pmic
Date:
Mon Jan 27 10:54:13 2020 +0000
Revision:
30:9b0cd3caf0ec
Parent:
21:31e01d3e0143 
Correct magnetometer.

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 20:1182bc29c195 8 class EKF
altb2 4:3c21fb0c9e84 9 {
altb2 4:3c21fb0c9e84 10 public:
altb2 4:3c21fb0c9e84 11
altb2 20:1182bc29c195 12 EKF(float);
altb2 20:1182bc29c195 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 20:1182bc29c195 20 void update(float,float,float,float,float,float);
altb2 4:3c21fb0c9e84 21 private:
altb2 4:3c21fb0c9e84 22 matrix x;
altb2 4:3c21fb0c9e84 23 matrix x_km;
altb2 4:3c21fb0c9e84 24 matrix P;
altb2 4:3c21fb0c9e84 25 matrix Q;
altb2 4:3c21fb0c9e84 26 matrix R;
altb2 4:3c21fb0c9e84 27 matrix F;
altb2 4:3c21fb0c9e84 28 matrix H;
altb2 4:3c21fb0c9e84 29 matrix K;
altb2 4:3c21fb0c9e84 30 matrix E;
altb2 4:3c21fb0c9e84 31 float g,tau_g,m,itau_g,k1,kdm;
altb2 4:3c21fb0c9e84 32 float Ts;
altb2 4:3c21fb0c9e84 33 void dgl(matrix *);
altb2 20:1182bc29c195 34 float my_sin(float x){return x;}
altb2 21:31e01d3e0143 35 float my_cos(float x){return 1.0f-0.5f*x*x;}
altb2 4:3c21fb0c9e84 36 };
altb2 4:3c21fb0c9e84 37
altb2 4:3c21fb0c9e84 38 #endif