altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: EKF_RP.h

Revision:
23:71996bfe68eb
Parent:
22:495a419e474c
--- a/EKF_RP.h	Mon Oct 28 07:52:43 2019 +0000
+++ b/EKF_RP.h	Wed Nov 13 11:40:46 2019 +0000
@@ -15,6 +15,7 @@
     virtual ~EKF_RP();
     
     void reset();
+    void increase_diag_P();
     float get_est_state(uint8_t i);
     void update(float gyro_x, float gyro_y, float accel_x, float accel_y);
     
@@ -25,6 +26,7 @@
     float s2;
     float c2;
     
+    float scale_P0;
     float g;
     float kv;
     float Ts;