ekf_imu13states.h

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// Copyright 2020-2021 Espressif Systems (Shanghai) PTE LTD
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef _ekf_imu13states_H_
#define _ekf_imu13states_H_
 
#include "ekf.h"

class ekf_imu13states: public ekf {
public:
    ekf_imu13states();
    virtual ~ekf_imu13states();
    virtual void Init();
 
    // Method calculates Xdot values depends on U
    // U - gyroscope values in radian per seconds (rad/sec)
    virtual dspm::Mat StateXdot(dspm::Mat &x, float *u);
    virtual void LinearizeFG(dspm::Mat &x, float *u);

    void Test();
    void TestFull(bool enable_att);

    dspm::Mat mag0;
    dspm::Mat accel0;

    int NUMU;

    void UpdateRefMeasurement(float *accel_data, float *magn_data, float R[6]);
    void UpdateRefMeasurementMagn(float *accel_data, float *magn_data, float R[6]);
    void UpdateRefMeasurement(float *accel_data, float *magn_data, float *attitude, float R[10]);
 
};
 
#endif // _ekf_imu13states_H_