altb_pmic
/
Test_ekf
Testing ekf implementation for Quadro_1.
Diff: EKF_RPY.h
- Revision:
- 19:ccb6fc8bf872
- Parent:
- 13:2e03d9c03409
--- a/EKF_RPY.h Mon Oct 28 11:31:48 2019 +0000 +++ b/EKF_RPY.h Mon Oct 28 12:08:15 2019 +0000 @@ -17,6 +17,7 @@ void set_para(); void reset(); + void increase_diag_P(); void set_m0(float mx0, float my0, float mz0); float get_est_state(uint8_t i); void update(float gyro_x, float gyro_y, float gyro_z, float accel_x, float accel_y, float magnet_x, float magnet_y); @@ -32,6 +33,7 @@ float s3; float c3; + float scale_P0; float g; float kv; float Ts;