AHRS
Dependencies: Eigen
AHRS.h
- Committer:
- altb2
- Date:
- 2019-06-26
- Revision:
- 7:bfde7bd5fe31
- Parent:
- 6:5824bd96b6cf
- Child:
- 8:51062bb877f0
File content as of revision 7:bfde7bd5fe31:
#include "Mahony.h" #include "MadgwickAHRS.h" #include "LinearCharacteristics.h" #include "LSM9DS1_i2c.h" #include "Signal.h" #include "ekf.h" #include "matrix.h" #include "data_logger.h" extern data_logger my_logger; class AHRS{ public: AHRS(uint8_t,float); virtual ~AHRS(); float getRoll() { return RPY_filter.get_est_state(1); } float getPitch() { return RPY_filter.get_est_state(2); } float getYaw() { return 0.0; } LSM9DS1 imu; //Mahony RPY_filter; ekf RPY_filter; LinearCharacteristics raw_gx2gx; LinearCharacteristics raw_gy2gy; LinearCharacteristics raw_gz2gz; LinearCharacteristics raw_ax2ax; LinearCharacteristics raw_ay2ay; LinearCharacteristics raw_az2az; LinearCharacteristics int2magx; LinearCharacteristics int2magy; LinearCharacteristics int2magz; private: Signal signal; Thread thread; Ticker ticker; Mutex mutex; // mutex to lock critical sections void sendSignal(); float local_time; void update(); matrix measurement; //SPI spi; % old board with spi // PinName csAG; // for spi // PinName csM; // " };