update attitude_estimator_ekf, includes matlab

This adds the latest c implementation (matlab coder) of
attitude_estimator_ekf, the .m matlab script and the .prj file with the
settings to export the matlab code to c

1 files changed, 6 insertions, 4 deletions

diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
index 5985541ca..fbb6a18ff 100755
--- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
+++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.h
@@ -42,8 +42,9 @@
 #include <systemlib/param/param.h>
 
 struct attitude_estimator_ekf_params {
-	float r[9];
-	float q[12];
+	float r[3];
+	float q[4];
+	float moment_inertia_J[9];
 	float roll_off;
 	float pitch_off;
 	float yaw_off;
@@ -52,8 +53,9 @@ struct attitude_estimator_ekf_params {
 };
 
 struct attitude_estimator_ekf_param_handles {
-	param_t r0, r1, r2, r3;
-	param_t q0, q1, q2, q3, q4;
+	param_t r0, r1, r2;
+	param_t q0, q1, q2, q3;
+	param_t moment_inertia_J[3]; /**< diagonal entries of the matrix */
 	param_t mag_decl;
 	param_t acc_comp;
 };