John Fitzpatrick / kalman

test

Diff: kalman.h

Revision:
1:270647f1e086
Parent:
0:8a460b0d6f09
--- a/kalman.h	Wed Aug 15 22:17:07 2012 +0000
+++ b/kalman.h	Sun Mar 28 20:19:54 2021 +0000
@@ -7,10 +7,10 @@
  
 typedef struct 
 { 
-    // Two states, angle and gyro bias. Unbiased angular rate is a byproduct. 
-    double x_bias;
-    double x_rate; 
-    double x_angle; 
+    // Three states, gyro bias, angular rate, angle 
+    double x_bias;      // Estimated error in angle
+    double x_rate;      // Unbiased Gyro Estimate
+    double x_angle;     // Kalman filtered angle Pitch or Roll
  
     // Covariance of estimation error matrix. 
     double P_00;