YUFEI JIANG / Mbed 2 deprecated CSSE4011_BLE_IMU

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

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Show/hide line numbers kalman.h Source File

kalman.h

00001 #ifndef __KALMAN_H__
00002 #define __KALMAN_H__
00003  
00004 #define DT 0.01f // 100Hz
00005  
00006 // Q diagonal 3x3 with these elements on diagonal
00007 #define Q1 5.0f
00008 #define Q2 100.0f
00009 #define Q3 0.01f
00010  
00011 // R diagonal 2x2 with these elements on diagonal
00012 #define R1 1000.0f
00013 #define R2 1000.0f
00014  
00015  
00016 
00017  
00018 struct _kalman_data
00019 {
00020     float x1, x2, x3;
00021     float p11, p12, p13, p21, p22, p23, p31, p32, p33;
00022     float q1, q2, q3;
00023     float r1, r2;
00024 };
00025  
00026 typedef struct _kalman_data kalman_data;
00027  
00028 void kalman_innovate(kalman_data *data, float z1, float z2);
00029 //void kalman_init(void);
00030 void kalman_init(kalman_data *data);
00031  
00032 #endif
00033 
00034 
00035 
00036