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:
9:84fad91d3587
Parent:
8:3882cb4be9d3
Child:
10:166006e89252
--- a/ATTITUDE_ESTIMATION.h	Tue Dec 27 11:28:49 2016 +0000
+++ b/ATTITUDE_ESTIMATION.h	Wed Dec 28 16:53:58 2016 +0000
@@ -72,7 +72,7 @@
 
     // Constructor:
     // Initialize the estimator
-    ATTITUDE(float alpha_in, float one_over_gamma_in, float Ts_in); // alpha in rad/sec., Ts in sec.
+    ATTITUDE(float alpha_in, float Ts_in); // alpha in rad/sec., Ts in sec.
 
     // Methods
     // Get the estimation results in Eular angle
@@ -83,7 +83,7 @@
     // Setting parameters
     // Set L1, the diagonal matrix
     void Set_L1_diag(float alpha_in); // set diagnal element of gain matrix
-
+    void enable_gyroBiasEst(float gamma_in); // Enable the gyro-bias estimation
 
     // Estimator
     void Init(void); // Let x_est = ys