altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

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

Committer:
pmic
Date:
Tue Oct 22 20:21:04 2019 +0000
Revision:
13:2e03d9c03409
Parent:
12:180e09c4ea26
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_RPY_H_
pmic 0:a0e9705be9c4 2 #define EKF_RPY_H_
pmic 0:a0e9705be9c4 3
pmic 0:a0e9705be9c4 4 #include <mbed.h>
pmic 0:a0e9705be9c4 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_RPY
pmic 0:a0e9705be9c4 10 {
pmic 0:a0e9705be9c4 11 public:
pmic 0:a0e9705be9c4 12
pmic 0:a0e9705be9c4 13 EKF_RPY(float Ts, float mx0, float my0, float mz0);
pmic 12:180e09c4ea26 14 EKF_RPY(float Ts);
pmic 0:a0e9705be9c4 15
pmic 0:a0e9705be9c4 16 virtual ~EKF_RPY();
pmic 0:a0e9705be9c4 17
pmic 12:180e09c4ea26 18 void set_para();
pmic 0:a0e9705be9c4 19 void reset();
pmic 12:180e09c4ea26 20 void set_m0(float mx0, float my0, float mz0);
pmic 0:a0e9705be9c4 21 float get_est_state(uint8_t i);
pmic 0:a0e9705be9c4 22 void update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y);
pmic 0:a0e9705be9c4 23
pmic 0:a0e9705be9c4 24 private:
pmic 0:a0e9705be9c4 25
pmic 0:a0e9705be9c4 26 Matrix <float, 3, 1> m0;
pmic 0:a0e9705be9c4 27
pmic 0:a0e9705be9c4 28 float s1;
pmic 0:a0e9705be9c4 29 float c1;
pmic 0:a0e9705be9c4 30 float s2;
pmic 0:a0e9705be9c4 31 float c2;
pmic 0:a0e9705be9c4 32 float s3;
pmic 0:a0e9705be9c4 33 float c3;
pmic 0:a0e9705be9c4 34
pmic 0:a0e9705be9c4 35 float g;
pmic 0:a0e9705be9c4 36 float kv;
pmic 0:a0e9705be9c4 37 float Ts;
pmic 0:a0e9705be9c4 38 float rho;
pmic 7:bcbcc23983de 39 Matrix <float, 4, 1> var_gy;
pmic 7:bcbcc23983de 40 Matrix <float, 8, 1> var_fx;
pmic 0:a0e9705be9c4 41
pmic 7:bcbcc23983de 42 Matrix <float, 3, 1> u;
pmic 7:bcbcc23983de 43 Matrix <float, 4, 1> y;
pmic 7:bcbcc23983de 44 Matrix <float, 8, 1> x;
pmic 7:bcbcc23983de 45 Matrix <float, 8, 8> F;
pmic 7:bcbcc23983de 46 Matrix <float, 4, 8> H;
pmic 7:bcbcc23983de 47 Matrix <float, 8, 8> Q;
pmic 7:bcbcc23983de 48 Matrix <float, 4, 4> R;
pmic 7:bcbcc23983de 49 Matrix <float, 8, 8> P;
pmic 7:bcbcc23983de 50 Matrix <float, 8, 4> K;
pmic 7:bcbcc23983de 51 Matrix <float, 8, 8> I;
pmic 13:2e03d9c03409 52 Matrix <float, 4, 1> e;
pmic 0:a0e9705be9c4 53
pmic 0:a0e9705be9c4 54 void update_angles();
pmic 7:bcbcc23983de 55 void calc_F();
pmic 7:bcbcc23983de 56 void calc_H();
pmic 0:a0e9705be9c4 57 void initialize_R();
pmic 0:a0e9705be9c4 58 void initialize_Q();
pmic 7:bcbcc23983de 59 void calc_Q();
pmic 0:a0e9705be9c4 60
pmic 7:bcbcc23983de 61 Matrix <float, 8, 1> fxd();
pmic 7:bcbcc23983de 62 Matrix <float, 4, 1> gy();
pmic 0:a0e9705be9c4 63
pmic 0:a0e9705be9c4 64 };
pmic 0:a0e9705be9c4 65
pmic 0:a0e9705be9c4 66 #endif