AHRS
Dependencies: Eigen
CF_Yaw.h@22:495a419e474c, 2019-10-28 (annotated)
- Committer:
- altb2
- Date:
- Mon Oct 28 07:52:43 2019 +0000
- Revision:
- 22:495a419e474c
EKF_RPY and EKF_RP from pmic
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
altb2 | 22:495a419e474c | 1 | #ifndef CF_YAW_H_ |
altb2 | 22:495a419e474c | 2 | #define CF_YAW_H_ |
altb2 | 22:495a419e474c | 3 | |
altb2 | 22:495a419e474c | 4 | #include <mbed.h> |
altb2 | 22:495a419e474c | 5 | #include "Eigen/Dense.h" |
altb2 | 22:495a419e474c | 6 | #include "Data_Logger.h" |
altb2 | 22:495a419e474c | 7 | #include "Read_Xtern_Sensors.h" |
altb2 | 22:495a419e474c | 8 | #include "IIR_filter.h" |
altb2 | 22:495a419e474c | 9 | #include "Unwrapper_2pi.h" |
altb2 | 22:495a419e474c | 10 | |
altb2 | 22:495a419e474c | 11 | extern DATA_Xchange data; |
altb2 | 22:495a419e474c | 12 | |
altb2 | 22:495a419e474c | 13 | using namespace Eigen; |
altb2 | 22:495a419e474c | 14 | |
altb2 | 22:495a419e474c | 15 | |
altb2 | 22:495a419e474c | 16 | class CF_Yaw |
altb2 | 22:495a419e474c | 17 | { |
altb2 | 22:495a419e474c | 18 | public: |
altb2 | 22:495a419e474c | 19 | |
altb2 | 22:495a419e474c | 20 | CF_Yaw(float,float); |
altb2 | 22:495a419e474c | 21 | |
altb2 | 22:495a419e474c | 22 | virtual ~CF_Yaw(); |
altb2 | 22:495a419e474c | 23 | void update(float,float,float,float); |
altb2 | 22:495a419e474c | 24 | private: |
altb2 | 22:495a419e474c | 25 | float s1,s2,c1,c2; |
altb2 | 22:495a419e474c | 26 | Matrix <float, 3, 3> R; |
altb2 | 22:495a419e474c | 27 | Matrix <float, 3, 1> m; |
altb2 | 22:495a419e474c | 28 | IIR_filter f_g,f_mx,f_my; |
altb2 | 22:495a419e474c | 29 | Unwrapper_2pi uw2pi; |
altb2 | 22:495a419e474c | 30 | |
altb2 | 22:495a419e474c | 31 | }; |
altb2 | 22:495a419e474c | 32 | |
altb2 | 22:495a419e474c | 33 | #endif |