Chun Feng Huang / ATTITUDE_ESTIMATION_WIPV

Attitude estimation using IMU (3-DoF ver.)

Fork of ATTITUDE_ESTIMATION by LDSC_Robotics_TAs

Diff: ATTITUDE_ESTIMATION.h

Revision:
5:01e322f4158f
Parent:
3:7deaf89fbe33
Child:
6:c362ed165c39
--- a/ATTITUDE_ESTIMATION.h	Wed May 04 10:35:01 2016 +0000
+++ b/ATTITUDE_ESTIMATION.h	Wed May 04 10:47:37 2016 +0000
@@ -37,7 +37,8 @@
     void Get_Attitude_Euler(float v[]);
 
 private:
-    float _unit_nk[3]; // (-k) direction [0;0;-1]
+    // Variables
+    float _unit_nz[3]; // (-z) direction [0;0;-1]
     float _zero3[3]; // Zero vector [0;0;0]
     //
     int8_t _init_flag; // Flag for displaying initialization status 
@@ -48,7 +49,7 @@
     float _L1_diag[3]; // Diagonal vector of gain matrix L1
     
     
-    // Method
+    // Methods
     void Set_vector3(float v_a[], float v_b[]); // Vectors in R^3. Let the values of v_b be set to v_a   
     void Set_L1_diag(float alpha); // set diagnal element of gain matrix