AHRS
Dependencies: Eigen
Diff: CF_Yaw.h
- Revision:
- 22:495a419e474c
diff -r 31e01d3e0143 -r 495a419e474c CF_Yaw.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/CF_Yaw.h Mon Oct 28 07:52:43 2019 +0000 @@ -0,0 +1,33 @@ +#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 \ No newline at end of file