![](/media/cache/img/default_profile.jpg.50x50_q85.jpg)
ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Kalman.h
- Committer:
- ivo_david_michelle
- Date:
- 2016-05-07
- Revision:
- 51:b6d76a4dfae8
- Parent:
- 34:eaea0ae92dfa
File content as of revision 51:b6d76a4dfae8:
#ifndef _Kalman_h_ #define _Kalman_h_ class Kalman { public: Kalman(); // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds float getAngle(float newAngle, float newRate, float dt); void setAngle(float angle); // Used to set angle, this should be set as the starting angle float getRate(); // Return the unbiased rate /* These are used to tune the Kalman filter */ void setQangle(float Q_angle); void setQbias(float Q_bias); void setRmeasure(float R_measure); float getQangle(); float getQbias(); float getRmeasure(); private: /* Kalman filter variables */ float Q_angle; // Process noise variance for the accelerometer float Q_bias; // Process noise variance for the gyro bias float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate float P[2][2]; // Error covariance matrix - This is a 2x2 matrix }; #endif