altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: AHRS.h

Revision:
19:42ea6dd68185
Parent:
17:f9eed26536d9
Child:
20:1182bc29c195
--- a/AHRS.h	Mon Sep 23 14:23:11 2019 +0000
+++ b/AHRS.h	Wed Oct 02 15:30:15 2019 +0000
@@ -3,7 +3,7 @@
 #include "LinearCharacteristics.h"
 #include "LSM9DS1_i2c.h"
 #include "Signal.h"
-#include "ekf.h"
+#include "EKF.h"
 #include "matrix.h"
 #include "data_logger.h"
 
@@ -40,7 +40,7 @@
 
     LSM9DS1 imu;
     Mahony Mahony_filter;
-    ekf RPY_filter;
+    EKF RPY_filter;
     LinearCharacteristics raw_gx2gx;
     LinearCharacteristics raw_gy2gy;
     LinearCharacteristics raw_gz2gz;
@@ -67,6 +67,5 @@
     void sendSignal();
     float local_time;
     void update();
-    matrix measurement;
-
+    uint8_t filtertype;
 };