altb_pmic / AHRS

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Dependencies:   Eigen

Dependents:   IndNav_QK3_T265

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Show/hide line numbers EKF.h Source File

EKF.h

00001 
00002 #ifndef EKF_H_
00003 #define EKF_H_
00004 
00005 #include <mbed.h>
00006 #include "matrix.h"
00007 
00008 class EKF
00009 {
00010 public:
00011 
00012     EKF(float);
00013     virtual ~EKF();
00014     float get_est_state(uint8_t);
00015     void loop(matrix *);
00016     void display_matrix(char);
00017     float getYaw(void){
00018         return 0;
00019         }
00020     void update(float,float,float,float,float,float);
00021 private:
00022     matrix x;
00023     matrix x_km;
00024     matrix P;
00025     matrix Q;
00026     matrix R;
00027     matrix F;
00028     matrix H;
00029     matrix K;
00030     matrix E;
00031     float g,tau_g,m,itau_g,k1,kdm;
00032     float Ts;
00033     void dgl(matrix *);
00034     float my_sin(float x){return x;}
00035     float my_cos(float x){return 1.0f-0.5f*x*x;}
00036 };
00037 
00038 #endif
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