altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

Diff: EKF_RP.cpp

Revision:
24:7fe0935b3bd2
Parent:
23:71996bfe68eb
--- a/EKF_RP.cpp	Wed Nov 13 11:40:46 2019 +0000
+++ b/EKF_RP.cpp	Mon Jan 06 10:15:44 2020 +0000
@@ -42,12 +42,12 @@
 
 float EKF_RP::get_est_state(uint8_t i)
 {   
-    /* x = [ang; v; b_g] = [0: phi
+    /* x = [ang; b_g; v] = [0: phi
                             1: theta
-                            2: vx
-                            3: vy
-                            4: b_gx
-                            5: b_gy] */
+                            2: b_gx
+                            3: b_gy
+                            4: vx
+                            5: vy] */
     return x(i);
 }