AHRS
Dependencies: Eigen
EKF_RPY.h
- Committer:
- altb2
- Date:
- 2019-10-28
- Revision:
- 22:495a419e474c
- Parent:
- 21:31e01d3e0143
- Child:
- 23:71996bfe68eb
File content as of revision 22:495a419e474c:
#ifndef EKF_RPY_H_ #define EKF_RPY_H_ #include <mbed.h> #include "Eigen/Dense.h" using namespace Eigen; class EKF_RPY { public: EKF_RPY(float Ts, float mx0, float my0, float mz0); EKF_RPY(float Ts); virtual ~EKF_RPY(); void set_para(); void reset(); void set_m0(float mx0, float my0, float mz0); float get_est_state(uint8_t i); void update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y); private: Matrix <float, 3, 1> m0; float s1; float c1; float s2; float c2; float s3; float c3; float g; float kv; float Ts; float rho; Matrix <float, 4, 1> var_gy; Matrix <float, 8, 1> var_fx; Matrix <float, 3, 1> u; Matrix <float, 4, 1> y; Matrix <float, 8, 1> x; Matrix <float, 8, 8> F; Matrix <float, 4, 8> H; Matrix <float, 8, 8> Q; Matrix <float, 4, 4> R; Matrix <float, 8, 8> P; Matrix <float, 8, 4> K; Matrix <float, 8, 8> I; Matrix <float, 4, 1> e; void update_angles(); void calc_F(); void calc_H(); void initialize_R(); void initialize_Q(); void calc_Q(); Matrix <float, 8, 1> fxd(); Matrix <float, 4, 1> gy(); }; #endif