altb_pmic / AHRS

AHRS

Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

EKF.h

Committer:
altb2
Date:
2019-10-02
Revision:
19:42ea6dd68185
Parent:
ekf.h@ 8:51062bb877f0
Child:
20:1182bc29c195

File content as of revision 19:42ea6dd68185:


#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;
        }
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