AHRS
Dependencies: Eigen
Diff: EKF.h
- Revision:
- 19:42ea6dd68185
- Parent:
- 8:51062bb877f0
- Child:
- 20:1182bc29c195
diff -r e374009ba477 -r 42ea6dd68185 EKF.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/EKF.h Wed Oct 02 15:30:15 2019 +0000 @@ -0,0 +1,35 @@ + +#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 \ No newline at end of file