altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

ekf.h

Committer:
altb2
Date:
2019-05-03
Revision:
4:3c21fb0c9e84
Child:
8:51062bb877f0

File content as of revision 4:3c21fb0c9e84:


#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 getRoll(){
        return x.a[1][1];
        }
    float getPitch(){
        return x.a[2][1];
        }
    float getYaw(void){
        return 0;
        }
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 *);
};

#endif