altb_pmic / Mbed 2 deprecated Test_ekf

Testing ekf implementation for Quadro_1.

Dependencies:   mbed Eigen

Diff: EKF_RP.h

Revision:
4:e50e18eac72b
Parent:
0:a0e9705be9c4
Child:
6:f9569a07aff5
--- a/EKF_RP.h	Fri Oct 18 21:49:59 2019 +0000
+++ b/EKF_RP.h	Sun Oct 20 08:27:25 2019 +0000
@@ -20,6 +20,8 @@
     float get_est_state(uint8_t i);
     void update(float gyro_x, float gyro_y, float accel_x, float accel_y);
     
+    float read_Q(uint8_t i, uint8_t j);
+    
 private:
     
     float s1;
@@ -46,11 +48,11 @@
     Matrix <float, 6, 6>  I;
         
     void update_angles();
-    void update_F();
-    void update_H();
+    void calc_F();
+    void calc_H();
     void initialize_R();
     void initialize_Q();
-    void update_Q();
+    void calc_Q();
     
     Matrix <float, 6, 1> fxd();
     Matrix <float, 2, 1> gy();