Integration is implemented. But there are problems.

The coordinates are not working correctly. When I run integration on a
known dataset the body seems to turn in the opposite direction of
reality. It's probably best to change it to NED and FRD. Currenty it is
ENU and RFU.

1 files changed, 4 insertions, 1 deletions

diff --git a/src/main.h b/src/main.h
index e3dd911..2139248 100644
--- a/src/main.h
+++ b/src/main.h
@@ -12,6 +12,8 @@
 #include <Eigen/Dense>
 #include <iostream>
 
+#include "body.h"
+
 #define MAXLINE 8192
 #define MAXFILENAME 1024
 
@@ -70,12 +72,13 @@ typedef struct {
 } message;
 
 int parseLine(char *line, message *msg);
+timestamp update_dt(const timestamp t, timestamp *t_old);
 
 #ifdef  USE_ROS
 void imuCallback();
 #else      /* -----  not USE_ROS  ----- */
 void imgCallback(const message *msg);
-void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q);
+void imuCallback(const message &msg, Eigen::Matrix<double,9,1> &X, const Eigen::Quaternion<double> &q, const timestamp dt);
 void pvaCallback(const message &msg, Eigen::Matrix<double,9,1> &X, Eigen::Quaternion<double> &q);
 void utmCallback(const message &msg, Eigen::Matrix<double,9,1> &X);
 #endif     /* -----  not USE_ROS  ----- */