Diff: AHRS.h

Revision:

17:f9eed26536d9

Parent:

11:b010622c0748

Child:

19:42ea6dd68185

--- a/AHRS.h	Mon Sep 23 09:53:03 2019 +0000
+++ b/AHRS.h	Mon Sep 23 14:19:23 2019 +0000
@@ -9,26 +9,35 @@
 
 extern data_logger my_logger;
 
-class AHRS{
+class AHRS
+{
 public:
+
     AHRS(uint8_t,float,bool);
+
     virtual ~AHRS();
-    
-    float getRoll(uint8_t ft) {
+
+    float getRoll(uint8_t ft)
+    {
         if(ft ==1)
-           return RPY_filter.get_est_state(0);
+            return RPY_filter.get_est_state(0);
         else
-            return Mahony_filter.getRollRadians();   
+            return Mahony_filter.getRollRadians();
     }
-    float getPitch(uint8_t ft) {
+
+    float getPitch(uint8_t ft)
+    {
         if(ft ==1)
-           return RPY_filter.get_est_state(1);
+            return RPY_filter.get_est_state(1);
         else
-            return Mahony_filter.getPitchRadians();   
+            return Mahony_filter.getPitchRadians();
     }
-    float getYaw() {
+
+    float getYaw()
+    {
         return 0.0;
     }
+
     LSM9DS1 imu;
     Mahony Mahony_filter;
     ekf RPY_filter;
@@ -38,26 +47,26 @@
     LinearCharacteristics raw_ax2ax;
     LinearCharacteristics raw_ay2ay;
     LinearCharacteristics raw_az2az;
-    LinearCharacteristics int2magx;     
-    LinearCharacteristics int2magy;
-    LinearCharacteristics int2magz;
+    LinearCharacteristics raw_mx2mx;
+    LinearCharacteristics raw_my2my;
+    LinearCharacteristics raw_mz2mz;
     float xyzUS[3];
     float xyzAS[3];
     float rxryrzUS[3];
     float v_xyzOF[2];
     float xyzOF[3];
     float xyzLIDAR[3];
+    float magnet_cal_0[3];
+
 private:
+
     Signal signal;
     Thread thread;
     Ticker ticker;
-    Mutex mutex;      // mutex to lock critical sections 
+    Mutex mutex;      // mutex to lock critical sections
     void sendSignal();
     float local_time;
     void update();
     matrix measurement;
-    //SPI spi;      % old board with spi
-    
-//    PinName csAG;         // for spi
-//    PinName csM;           //  "
+
 };