altb_pmic
AHRS
Dependencies: Eigen
Diff: CF_Yaw.h
- Revision:
- 22:495a419e474c
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/CF_Yaw.h Mon Oct 28 07:52:43 2019 +0000
@@ -0,0 +1,33 @@
+#ifndef CF_YAW_H_
+#define CF_YAW_H_
+
+#include <mbed.h>
+#include "Eigen/Dense.h"
+#include "Data_Logger.h"
+#include "Read_Xtern_Sensors.h"
+#include "IIR_filter.h"
+#include "Unwrapper_2pi.h"
+
+extern DATA_Xchange data;
+
+using namespace Eigen;
+
+
+class CF_Yaw
+{
+public:
+
+ CF_Yaw(float,float);
+
+ virtual ~CF_Yaw();
+ void update(float,float,float,float);
+private:
+ float s1,s2,c1,c2;
+ Matrix <float, 3, 3> R;
+ Matrix <float, 3, 1> m;
+ IIR_filter f_g,f_mx,f_my;
+ Unwrapper_2pi uw2pi;
+
+};
+
+#endif
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