Chun Feng Huang / ATTITUDE_ESTIMATION_WIPV

Attitude estimation using IMU (3-DoF ver.)

Fork of ATTITUDE_ESTIMATION by LDSC_Robotics_TAs

Diff: ATTITUDE_ESTIMATION.cpp

Revision:
5:01e322f4158f
Parent:
4:040a642214c1
Child:
6:c362ed165c39
--- a/ATTITUDE_ESTIMATION.cpp	Wed May 04 10:35:01 2016 +0000
+++ b/ATTITUDE_ESTIMATION.cpp	Wed May 04 10:47:37 2016 +0000
@@ -2,11 +2,11 @@
 
 ATTITUDE::ATTITUDE(float alpha_in, float Ts_in):alpha(alpha_in), Ts(Ts_in)
 {
-    //_unit_nk 
+    //_unit_nz 
     //_zero3
     float v1[3]={0.0,0.0,-1.0};
     float v2[3]={0.0,0.0,0.0};   
-    Set_vector3(_unit_nk,v1);
+    Set_vector3(_unit_nz,v1);
     Set_vector3(_zero3,v2);
     
     
@@ -15,7 +15,7 @@
     Set_vector3(omega,_zero3);    
     
     _init_flag = 0; // Uninitialized
-    Set_vector3(_x_est,_unit_nk);    
+    Set_vector3(_x_est,_unit_nz);    
     Set_L1_diag(alpha);