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55 lines
1.1 KiB
C
55 lines
1.1 KiB
C
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#ifndef AHRS_CALIBRATION_HPP
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#define AHRS_CALIBRATION_HPP
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#include <Eigen/Core>
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#include <cstdlib>
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using std::size_t;
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using namespace Eigen;
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void
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calibration_misalignment(Vector3f& rotationVector,
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const Vector3f samples0[],
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const Vector3f& reference0,
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const Vector3f samples1[],
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const Vector3f& reference1,
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size_t n_samples);
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Vector3f
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twostep_bias_only(const Vector3f samples[],
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size_t n_samples,
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const Vector3f& referenceField,
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const float noise);
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void
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twostep_bias_scale(Vector3f& bias,
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Vector3f& scale,
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const Vector3f samples[],
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const size_t n_samples,
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const Vector3f& referenceField,
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const float noise);
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void
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twostep_bias_scale(Vector3f& bias,
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Matrix3f& scale,
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const Vector3f samples[],
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const size_t n_samples,
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const Vector3f& referenceField,
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const float noise);
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void
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openpilot_bias_scale(Vector3f& bias,
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Vector3f& scale,
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const Vector3f samples[],
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const size_t n_samples,
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const Vector3f& referenceField);
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void
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gyroscope_calibration(Vector3f& bias,
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Matrix3f& accelSensitivity,
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Vector3f gyroSamples[],
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Vector3f accelSamples[],
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size_t n_samples);
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#endif // !defined AHRS_CALIBRATION_HPP
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