altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

EKF_RP.h@13:2e03d9c03409, 2019-10-22 (annotated)

Committer:
pmic
Date:
Tue Oct 22 20:21:04 2019 +0000
Revision:
13:2e03d9c03409
Parent:
7:bcbcc23983de
Child:
19:ccb6fc8bf872
Implement iterative covariance update in EKF_RP and EKF_RPY. Tunestate and noise covariance.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
pmic 0:a0e9705be9c4 1 #ifndef EKF_RP_H_
pmic 0:a0e9705be9c4 2 #define EKF_RP_H_
pmic 0:a0e9705be9c4 3
pmic 0:a0e9705be9c4 4 #include <mbed.h>
pmic 6:f9569a07aff5 5 #include "Eigen/Dense.h"
pmic 0:a0e9705be9c4 6
pmic 0:a0e9705be9c4 7 using namespace Eigen;
pmic 0:a0e9705be9c4 8
pmic 0:a0e9705be9c4 9 class EKF_RP
pmic 0:a0e9705be9c4 10 {
pmic 0:a0e9705be9c4 11 public:
pmic 0:a0e9705be9c4 12
pmic 0:a0e9705be9c4 13 EKF_RP(float Ts);
pmic 0:a0e9705be9c4 14
pmic 0:a0e9705be9c4 15 virtual ~EKF_RP();
pmic 0:a0e9705be9c4 16
pmic 0:a0e9705be9c4 17 void reset();
pmic 0:a0e9705be9c4 18 float get_est_state(uint8_t i);
pmic 0:a0e9705be9c4 19 void update(float gyro_x, float gyro_y, float accel_x, float accel_y);
pmic 0:a0e9705be9c4 20
pmic 0:a0e9705be9c4 21 private:
pmic 0:a0e9705be9c4 22
pmic 0:a0e9705be9c4 23 float s1;
pmic 0:a0e9705be9c4 24 float c1;
pmic 0:a0e9705be9c4 25 float s2;
pmic 0:a0e9705be9c4 26 float c2;
pmic 0:a0e9705be9c4 27
pmic 0:a0e9705be9c4 28 float g;
pmic 0:a0e9705be9c4 29 float kv;
pmic 0:a0e9705be9c4 30 float Ts;
pmic 0:a0e9705be9c4 31 float rho;
pmic 0:a0e9705be9c4 32 Matrix <float, 2, 1> var_gy;
pmic 0:a0e9705be9c4 33 Matrix <float, 6, 1> var_fx;
pmic 0:a0e9705be9c4 34
pmic 0:a0e9705be9c4 35 Matrix <float, 2, 1> u;
pmic 0:a0e9705be9c4 36 Matrix <float, 2, 1> y;
pmic 0:a0e9705be9c4 37 Matrix <float, 6, 1> x;
pmic 0:a0e9705be9c4 38 Matrix <float, 6, 6> F;
pmic 0:a0e9705be9c4 39 Matrix <float, 2, 6> H;
pmic 0:a0e9705be9c4 40 Matrix <float, 6, 6> Q;
pmic 0:a0e9705be9c4 41 Matrix <float, 2, 2> R;
pmic 0:a0e9705be9c4 42 Matrix <float, 6, 6> P;
pmic 0:a0e9705be9c4 43 Matrix <float, 6, 2> K;
pmic 0:a0e9705be9c4 44 Matrix <float, 6, 6> I;
pmic 13:2e03d9c03409 45 Matrix <float, 2, 1> e;
pmic 0:a0e9705be9c4 46
pmic 0:a0e9705be9c4 47 void update_angles();
pmic 4:e50e18eac72b 48 void calc_F();
pmic 4:e50e18eac72b 49 void calc_H();
pmic 0:a0e9705be9c4 50 void initialize_R();
pmic 0:a0e9705be9c4 51 void initialize_Q();
pmic 4:e50e18eac72b 52 void calc_Q();
pmic 0:a0e9705be9c4 53
pmic 0:a0e9705be9c4 54 Matrix <float, 6, 1> fxd();
pmic 0:a0e9705be9c4 55 Matrix <float, 2, 1> gy();
pmic 0:a0e9705be9c4 56
pmic 0:a0e9705be9c4 57 };
pmic 0:a0e9705be9c4 58
pmic 0:a0e9705be9c4 59 #endif