Fabio Bobrow
Cubli library
Diff: AttitudeEstimator/AttitudeEstimator.h
- Revision:
- 1:085840a3d767
- Child:
- 2:dc7840a67f77
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/AttitudeEstimator/AttitudeEstimator.h Wed Feb 13 17:06:28 2019 +0000
@@ -0,0 +1,29 @@
+#ifndef AttitudeEstimator_h
+#define AttitudeEstimator_h
+
+#include "mbed.h"
+#include "Matrix.h"
+#include "LSM9DS1.h"
+
+// Attitude estimator class
+class AttitudeEstimator
+{
+ public:
+ // Class constructor
+ AttitudeEstimator();
+ // Initialize class
+ void init();
+ // Estimate Euler angles (rad) and angular velocities (rad/s)
+ void estimate();
+ //
+ Matrix x;
+ //
+ Matrix z, A, H, P, K, Q, R;
+ private:
+ //
+ float dt;
+ // IMU sensor object
+ LSM9DS1 imu;
+};
+
+#endif
\ No newline at end of file