altb_pmic
/
Test_ekf
Testing ekf implementation for Quadro_1.
Diff: main.cpp
- Revision:
- 21:aab1ac72095b
- Parent:
- 17:1d98928f7681
- Child:
- 23:226f18dd30a5
diff -r 0227c82a78c2 -r aab1ac72095b main.cpp --- a/main.cpp Mon Oct 28 12:14:59 2019 +0000 +++ b/main.cpp Mon Jan 06 10:20:10 2020 +0000 @@ -18,8 +18,8 @@ uint32_t i; -Matrix<float, 8, 8> A; -Matrix<float, 8, 1> b; +Matrix<float, 9, 9> A; +Matrix<float, 9, 1> b; Matrix<float, 8, 8> I; Matrix<float, 7, 1> gyro_x; @@ -38,7 +38,7 @@ i = 0; - /* + ///* A << 1, 2, 3, 5, 1, 8,10, 1, 3, 4, 5, 6, 8, 4, 2, 1, 9, 4, 7, 8,10, 5, 6, 8, 4, 5, 1, @@ -57,8 +57,9 @@ 1, 8, 1; - */ + //*/ + /* A << 1, 2, 3, 5, 1, 8,10, 1, 4, 5, 6, 8, 4, 2, 1, 9, 7, 8,10, 5, 6, 8, 4, 5, @@ -75,6 +76,7 @@ 5, 1, 8; + */ I.setIdentity(); // I = I.transpose(); @@ -91,7 +93,7 @@ while(1) { - // Matrix<float, 8, 1> x = A.inverse() * b; + Matrix<float, 9, 1> x = A.inverse() * b; // float temp0 = (float)(rand()%10000-4999)*0.00001f; // float temp1 = (float)(rand()%10000-4999)*0.00001f;