Chris LU / Mbed 2 deprecated Self_Riding_Bicycle_LQRgain

Self_Riding_Bicycle_LQRgain

Dependencies:   LSM9DS0_self_riding_bike_LQR mbed

SensorFusion.h@0:c2e43d17c8e4, 2018-08-20 (annotated)

Committer:
cpul5338
Date:
Mon Aug 20 13:21:31 2018 +0000
Revision:
0:c2e43d17c8e4
self_riding_bike_LQR

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cpul5338 0:c2e43d17c8e4 1 #ifndef SENSORFUSION_H_INCLUDED
cpul5338 0:c2e43d17c8e4 2 #define SENSORFUSION_H_INCLUDED
cpul5338 0:c2e43d17c8e4 3
cpul5338 0:c2e43d17c8e4 4 #include "math.h"
cpul5338 0:c2e43d17c8e4 5 #define FTimer 1000.0f ///Hz
cpul5338 0:c2e43d17c8e4 6 #define sample_time 1.0f/FTimer
cpul5338 0:c2e43d17c8e4 7 #define Alpha FTimer/25.0f
cpul5338 0:c2e43d17c8e4 8
cpul5338 0:c2e43d17c8e4 9 extern float axm, aym, azm, u1, u2, u3, mx, my, mz;
cpul5338 0:c2e43d17c8e4 10 extern float Ac[3];
cpul5338 0:c2e43d17c8e4 11
cpul5338 0:c2e43d17c8e4 12 extern float axm_f, axm_f_old, u3aym_f, u3aym_f_old, u2azm_f, u2azm_f_old;
cpul5338 0:c2e43d17c8e4 13 extern float aym_f, aym_f_old, u3axm_f, u3axm_f_old, u1azm_f, u1azm_f_old;
cpul5338 0:c2e43d17c8e4 14 extern float azm_f, azm_f_old, u2axm_f, u2axm_f_old, u1aym_f, u1aym_f_old;
cpul5338 0:c2e43d17c8e4 15
cpul5338 0:c2e43d17c8e4 16 extern float x1_hat, x2_hat, x3_hat;
cpul5338 0:c2e43d17c8e4 17 extern float sinroll, cosroll, roll_angle, droll_angle, droll_angle_old;
cpul5338 0:c2e43d17c8e4 18 extern float sinpitch, cospitch, yaw_ref, yaw_angle, yaw_angle_old, dyaw_angle, dyaw_angle_old;
cpul5338 0:c2e43d17c8e4 19
cpul5338 0:c2e43d17c8e4 20 //extern void CentrifugalAcce_Compensation(float velocity);
cpul5338 0:c2e43d17c8e4 21 extern float lpf(float input,float input_old,float frequency);
cpul5338 0:c2e43d17c8e4 22 extern void roll_fusion(float a_xm,float a_ym,float a_zm,float u_3,float u_1,float alpha);
cpul5338 0:c2e43d17c8e4 23 extern float Determinant(float x11, float x12, float x21, float x22);
cpul5338 0:c2e43d17c8e4 24 extern float absolute(float value);
cpul5338 0:c2e43d17c8e4 25
cpul5338 0:c2e43d17c8e4 26 extern void Reset_data(void);
cpul5338 0:c2e43d17c8e4 27
cpul5338 0:c2e43d17c8e4 28 #endif // SENSORFUSION_H_INCLUDED