AHRS
Dependencies: Eigen
EKF.h
- Committer:
- altb2
- Date:
- 2019-10-21
- Revision:
- 21:31e01d3e0143
- Parent:
- 20:1182bc29c195
File content as of revision 21:31e01d3e0143:
#ifndef EKF_H_ #define EKF_H_ #include <mbed.h> #include "matrix.h" class EKF { public: EKF(float); virtual ~EKF(); float get_est_state(uint8_t); void loop(matrix *); void display_matrix(char); float getYaw(void){ return 0; } void update(float,float,float,float,float,float); private: matrix x; matrix x_km; matrix P; matrix Q; matrix R; matrix F; matrix H; matrix K; matrix E; float g,tau_g,m,itau_g,k1,kdm; float Ts; void dgl(matrix *); float my_sin(float x){return x;} float my_cos(float x){return 1.0f-0.5f*x*x;} }; #endif