Takashi Koyama / HAPS_EKF

EKF class

Dependencies:   MatrixMath Vector3

HAPS_EKF.hpp@2:771eed5f655a, 2021-05-31 (annotated)

Committer:
cocorlow
Date:
Mon May 31 07:27:20 2021 +0000
Revision:
2:771eed5f655a
Parent:
0:de56252b419e 
rpy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 0:de56252b419e 1 #ifndef __HAPS_EKF_HPP__
cocorlow 0:de56252b419e 2 #define __HAPS_EKF_HPP__
cocorlow 0:de56252b419e 3
cocorlow 0:de56252b419e 4 #include "Matrix.h"
cocorlow 0:de56252b419e 5 #include "Vector3.hpp"
cocorlow 0:de56252b419e 6
cocorlow 0:de56252b419e 7
cocorlow 0:de56252b419e 8 class HAPS_EKF
cocorlow 0:de56252b419e 9 {
cocorlow 0:de56252b419e 10 private:
cocorlow 0:de56252b419e 11 Matrix qhat;
cocorlow 0:de56252b419e 12 Matrix qhat_gyro;
cocorlow 0:de56252b419e 13 Matrix Phat;
cocorlow 0:de56252b419e 14 Matrix Qgyro;
cocorlow 0:de56252b419e 15 Matrix D;
cocorlow 0:de56252b419e 16
cocorlow 0:de56252b419e 17 public:
cocorlow 0:de56252b419e 18 Matrix Racc;
cocorlow 0:de56252b419e 19 Matrix Rmag;
cocorlow 0:de56252b419e 20
cocorlow 0:de56252b419e 21 HAPS_EKF();
cocorlow 0:de56252b419e 22 void updateBetweenMeasures(Vector3 gyro, float att_dt);
cocorlow 0:de56252b419e 23 void updateAcrossMeasures(Vector3 _v, Vector3 _u, Matrix& R);
cocorlow 2:771eed5f655a 24 void computeAngles(Vector3& rpy, Vector3& rpy_g, Vector3 rpy_align);
cocorlow 0:de56252b419e 25 void triad(Vector3 fb, Vector3 fn, Vector3 mb, Vector3 mn);
cocorlow 0:de56252b419e 26 Vector3 calcMagRef(Vector3 m);
cocorlow 0:de56252b419e 27 Vector3 calcDynAcc(Vector3 LPacc, Vector3 accref);
cocorlow 0:de56252b419e 28 };
cocorlow 0:de56252b419e 29
cocorlow 0:de56252b419e 30 #endif