AHRS
Dependencies: Eigen
Diff: AHRS.h
- Revision:
- 9:644266463f5f
- Parent:
- 8:51062bb877f0
- Child:
- 10:fd4e2436b311
diff -r 51062bb877f0 -r 644266463f5f AHRS.h --- a/AHRS.h Fri Jul 05 06:56:19 2019 +0000 +++ b/AHRS.h Fri Jul 12 15:19:12 2019 +0000 @@ -11,7 +11,7 @@ class AHRS{ public: - AHRS(uint8_t,float); + AHRS(uint8_t,float,bool); virtual ~AHRS(); float getRoll(uint8_t ft) { @@ -32,7 +32,6 @@ LSM9DS1 imu; Mahony Mahony_filter; ekf RPY_filter; - LinearCharacteristics raw_gx2gx; LinearCharacteristics raw_gy2gy; LinearCharacteristics raw_gz2gz; @@ -42,6 +41,8 @@ LinearCharacteristics int2magx; LinearCharacteristics int2magy; LinearCharacteristics int2magz; + float xyzUS[3]; + float rxryrzUS[3]; private: Signal signal; Thread thread;