YUFEI JIANG / Mbed 2 deprecated CSSE4011_BLE_IMU

CSSE4011_BLE_IMU IMU Seeed Tiny Ble

Dependencies:   BLE_API_Tiny_BLE MPU6050-DMP-Seeed-Tiny-BLE mbed

kalman.h

Committer:
flywind
Date:
2015-06-10
Revision:
0:f90c3452d779

File content as of revision 0:f90c3452d779:

#ifndef __KALMAN_H__
#define __KALMAN_H__
 
#define DT 0.01f // 100Hz
 
// Q diagonal 3x3 with these elements on diagonal
#define Q1 5.0f
#define Q2 100.0f
#define Q3 0.01f
 
// R diagonal 2x2 with these elements on diagonal
#define R1 1000.0f
#define R2 1000.0f
 
 

 
struct _kalman_data
{
    float x1, x2, x3;
    float p11, p12, p13, p21, p22, p23, p31, p32, p33;
    float q1, q2, q3;
    float r1, r2;
};
 
typedef struct _kalman_data kalman_data;
 
void kalman_innovate(kalman_data *data, float z1, float z2);
//void kalman_init(void);
void kalman_init(kalman_data *data);
 
#endif