altb_pmic
AHRS
Dependencies: Eigen
Diff: EKF.h
- Revision:
- 19:42ea6dd68185
- Parent:
- 8:51062bb877f0
- Child:
- 20:1182bc29c195
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/EKF.h Wed Oct 02 15:30:15 2019 +0000
@@ -0,0 +1,35 @@
+
+#ifndef EKF_H_
+#define EKF_H_
+
+#include <mbed.h>
+#include "matrix.h"
+
+class ekf
+{
+public:
+
+ ekf(float);
+ virtual ~ekf();
+ float get_est_state(uint8_t);
+ void loop(matrix *);
+ void display_matrix(char);
+ float getYaw(void){
+ return 0;
+ }
+private:
+ matrix x;
+ matrix x_km;
+ matrix P;
+ matrix Q;
+ matrix R;
+ matrix F;
+ matrix H;
+ matrix K;
+ matrix E;
+ float g,tau_g,m,itau_g,k1,kdm;
+ float Ts;
+ void dgl(matrix *);
+};
+
+#endif
\ No newline at end of file