altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: EKF_RPY.h

Revision:
23:71996bfe68eb
Parent:
22:495a419e474c
--- a/EKF_RPY.h	Mon Oct 28 07:52:43 2019 +0000
+++ b/EKF_RPY.h	Wed Nov 13 11:40:46 2019 +0000
@@ -17,6 +17,7 @@
     
     void set_para();
     void reset();
+    void increase_diag_P();
     void set_m0(float mx0, float my0, float mz0);
     float get_est_state(uint8_t i);
     void update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y);
@@ -32,6 +33,7 @@
     float s3;
     float c3;
     
+    float scale_P0;
     float g;
     float kv;
     float Ts;