From 6e0de4f0d4fac653dde826712e81cee95b470195 Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Fri, 17 Mar 2017 21:31:12 -0500 Subject: 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. --- src/main.h | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) (limited to 'src/main.h') 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 #include +#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 &X, Eigen::Quaternion &q); +void imuCallback(const message &msg, Eigen::Matrix &X, const Eigen::Quaternion &q, const timestamp dt); void pvaCallback(const message &msg, Eigen::Matrix &X, Eigen::Quaternion &q); void utmCallback(const message &msg, Eigen::Matrix &X); #endif /* ----- not USE_ROS ----- */ -- cgit v1.1