AHRS
Dependencies: Eigen
CF_Yaw.h
- Committer:
- altb2
- Date:
- 2019-10-28
- Revision:
- 22:495a419e474c
File content as of revision 22:495a419e474c:
#ifndef CF_YAW_H_ #define CF_YAW_H_ #include <mbed.h> #include "Eigen/Dense.h" #include "Data_Logger.h" #include "Read_Xtern_Sensors.h" #include "IIR_filter.h" #include "Unwrapper_2pi.h" extern DATA_Xchange data; using namespace Eigen; class CF_Yaw { public: CF_Yaw(float,float); virtual ~CF_Yaw(); void update(float,float,float,float); private: float s1,s2,c1,c2; Matrix <float, 3, 3> R; Matrix <float, 3, 1> m; IIR_filter f_g,f_mx,f_my; Unwrapper_2pi uw2pi; }; #endif