Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

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Show/hide line numbers Kalman.h Source File

Kalman.h

00001 #include "mbed.h"
00002 #include "Global.h"
00003 
00004 #ifndef Kalman_H
00005 #define Kalman_H
00006 
00007 class Kalman                
00008 {
00009   public:             
00010     Kalman(double q, double r, double p, double intialValue);    
00011     ~Kalman();
00012     
00013     struct KalmanState
00014     {
00015         double q; //process noise covariance
00016         double r; //measurement noise covariance
00017         double x; //value
00018         double p; //estimation error covariance
00019         double k; //kalman gain
00020     };
00021     
00022     double update(double predicted, double measurement);
00023     double getEstimated();
00024     
00025   private:
00026     KalmanState _kalmanState;
00027 
00028 };
00029 #endif
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