Fabio Bobrow / Cubli

Cubli library

Diff: AttitudeEstimator/AttitudeEstimator.h

Revision:
2:dc7840a67f77
Parent:
1:085840a3d767
--- a/AttitudeEstimator/AttitudeEstimator.h	Wed Feb 13 17:06:28 2019 +0000
+++ b/AttitudeEstimator/AttitudeEstimator.h	Mon Feb 25 16:39:52 2019 +0000
@@ -16,14 +16,27 @@
     // Estimate Euler angles (rad) and angular velocities (rad/s)
     void estimate();
     //
+    void get_output();
+    //
     Matrix x;
     //
-    Matrix z, A, H, P, K, Q, R;
+    Matrix A, H, P, K, Q, R;
+    //
+    Matrix g, a, m;
+    //
+    Matrix q;
+    //
+    Matrix BN;
+    //
+    Matrix I;
   private:
     // 
-    float dt;
+    float dt, dt_half;
+    //
+    void read();
     // IMU sensor object
     LSM9DS1 imu;
+    //
 };
 
 #endif
\ No newline at end of file