Fabio Bobrow / Cubli

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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