altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: AHRS.h

Revision:
9:644266463f5f
Parent:
8:51062bb877f0
Child:
10:fd4e2436b311
--- a/AHRS.h	Fri Jul 05 06:56:19 2019 +0000
+++ b/AHRS.h	Fri Jul 12 15:19:12 2019 +0000
@@ -11,7 +11,7 @@
 
 class AHRS{
 public:
-    AHRS(uint8_t,float);
+    AHRS(uint8_t,float,bool);
     virtual ~AHRS();
     
     float getRoll(uint8_t ft) {
@@ -32,7 +32,6 @@
     LSM9DS1 imu;
     Mahony Mahony_filter;
     ekf RPY_filter;
-    
     LinearCharacteristics raw_gx2gx;
     LinearCharacteristics raw_gy2gy;
     LinearCharacteristics raw_gz2gz;
@@ -42,6 +41,8 @@
     LinearCharacteristics int2magx;     
     LinearCharacteristics int2magy;
     LinearCharacteristics int2magz;
+    float xyzUS[3];
+    float rxryrzUS[3];
 private:
     Signal signal;
     Thread thread;