int gps_fix_count = 5; //used to count 5 good fixes at ground startup
public DCM(nIMU imu)
{
this.adc = imu;
DCM_Matrix = new float[3][];
DCM_Matrix[0] = new float[] { 1, 0, 0 };
DCM_Matrix[1] = new float[] { 0, 1, 0 };
DCM_Matrix[2] = new float[] { 0, 0, 1 };
Temporary_Matrix = new float[3][];
Temporary_Matrix[0] = new float[] { 0, 0, 0 };
Temporary_Matrix[1] = new float[] { 0, 0, 0 };
Temporary_Matrix[2] = new float[] { 0, 0, 0 };
Update_Matrix = new float[3][];
Update_Matrix[0] = new float[] { 0, 1, 2 };
Update_Matrix[1] = new float[] { 3, 4, 5 };
Update_Matrix[2] = new float[] { 6, 7, 8 };
}
float[][] Update_Matrix; // = { new float[] { 0, 1, 2 }, new float[] { 3, 4, 5 }, new float[] { 6, 7, 8 } }; //Gyros here
#endregion Fields
#region Constructors
public DCM(nIMU imu)
{
this.adc = imu;
DCM_Matrix = new float[3][];
DCM_Matrix[0] = new float[] { 1, 0, 0 };
DCM_Matrix[1] = new float[] { 0, 1, 0 };
DCM_Matrix[2] = new float[] { 0, 0, 1 };
Temporary_Matrix = new float[3][];
Temporary_Matrix[0] = new float[] { 0, 0, 0 };
Temporary_Matrix[1] = new float[] { 0, 0, 0 };
Temporary_Matrix[2] = new float[] { 0, 0, 0 };
Update_Matrix = new float[3][];
Update_Matrix[0] = new float[] { 0, 1, 2 };
Update_Matrix[1] = new float[] { 3, 4, 5 };
Update_Matrix[2] = new float[] { 6, 7, 8 };
}
