altb_pmic / AHRS

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Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

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Show/hide line numbers CF_Yaw.h Source File

CF_Yaw.h

00001 #ifndef CF_YAW_H_
00002 #define CF_YAW_H_
00003 
00004 #include <mbed.h>
00005 #include "Eigen/Dense.h"
00006 #include "Data_Logger.h"
00007 #include "Read_Xtern_Sensors.h"
00008 #include "IIR_filter.h"
00009 #include "Unwrapper_2pi.h"
00010 
00011 extern DATA_Xchange data;
00012 
00013 using namespace Eigen;
00014 
00015 
00016 class CF_Yaw
00017 {
00018 public:
00019 
00020     CF_Yaw(float,float);
00021 
00022     virtual ~CF_Yaw();
00023     void update(float,float,float,float);
00024 private:
00025     float s1,s2,c1,c2;
00026     Matrix <float, 3, 3>  R;
00027     Matrix <float, 3, 1>  m;
00028     IIR_filter f_g,f_mx,f_my;
00029     Unwrapper_2pi uw2pi;
00030 
00031 };
00032 
00033 #endif
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