Fabio Bobrow / Cubli

Cubli library

AttitudeEstimator/AttitudeEstimator.h@2:dc7840a67f77, 2019-02-25 (annotated)

Committer:
fbob
Date:
Mon Feb 25 16:39:52 2019 +0000
Revision:
2:dc7840a67f77
Parent:
1:085840a3d767 
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fbob 1:085840a3d767 1 #ifndef AttitudeEstimator_h
fbob 1:085840a3d767 2 #define AttitudeEstimator_h
fbob 1:085840a3d767 3
fbob 1:085840a3d767 4 #include "mbed.h"
fbob 1:085840a3d767 5 #include "Matrix.h"
fbob 1:085840a3d767 6 #include "LSM9DS1.h"
fbob 1:085840a3d767 7
fbob 1:085840a3d767 8 // Attitude estimator class
fbob 1:085840a3d767 9 class AttitudeEstimator
fbob 1:085840a3d767 10 {
fbob 1:085840a3d767 11 public:
fbob 1:085840a3d767 12 // Class constructor
fbob 1:085840a3d767 13 AttitudeEstimator();
fbob 1:085840a3d767 14 // Initialize class
fbob 1:085840a3d767 15 void init();
fbob 1:085840a3d767 16 // Estimate Euler angles (rad) and angular velocities (rad/s)
fbob 1:085840a3d767 17 void estimate();
fbob 1:085840a3d767 18 //
fbob 2:dc7840a67f77 19 void get_output();
fbob 2:dc7840a67f77 20 //
fbob 1:085840a3d767 21 Matrix x;
fbob 1:085840a3d767 22 //
fbob 2:dc7840a67f77 23 Matrix A, H, P, K, Q, R;
fbob 2:dc7840a67f77 24 //
fbob 2:dc7840a67f77 25 Matrix g, a, m;
fbob 2:dc7840a67f77 26 //
fbob 2:dc7840a67f77 27 Matrix q;
fbob 2:dc7840a67f77 28 //
fbob 2:dc7840a67f77 29 Matrix BN;
fbob 2:dc7840a67f77 30 //
fbob 2:dc7840a67f77 31 Matrix I;
fbob 1:085840a3d767 32 private:
fbob 1:085840a3d767 33 //
fbob 2:dc7840a67f77 34 float dt, dt_half;
fbob 2:dc7840a67f77 35 //
fbob 2:dc7840a67f77 36 void read();
fbob 1:085840a3d767 37 // IMU sensor object
fbob 1:085840a3d767 38 LSM9DS1 imu;
fbob 2:dc7840a67f77 39 //
fbob 1:085840a3d767 40 };
fbob 1:085840a3d767 41
fbob 1:085840a3d767 42 #endif