Chun Feng Huang / ATTITUDE_ESTIMATION_WIPV

Attitude estimation using IMU (3-DoF ver.)

Fork of ATTITUDE_ESTIMATION by LDSC_Robotics_TAs

Diff: ATTITUDE_ESTIMATION.h

Revision:
13:16bc19155f54
Parent:
11:394a59f3b1f6
--- a/ATTITUDE_ESTIMATION.h	Thu Jan 05 11:14:20 2017 +0000
+++ b/ATTITUDE_ESTIMATION.h	Fri Jan 20 15:46:48 2017 +0000
@@ -61,6 +61,9 @@
     vector<float> y_acce; // Accelerometer outputs
     vector<float> y_mag; // Magnetometer outputs
 
+    // Linear acceleration estimation
+    vector<float> acce_sensorFrame; // The residual of acceleration, acce_sensorFrame = y_acce - xg_est
+
     // No use, may be deleted
     // vector<float> w_cross_ys; // omega X ys
     vector<float> ys_cross_x_ys; // ys X (x_est - ys)