Michael Shimniok
Code for autonomous rover for Sparkfun AVC. DataBus won 3rd in 2012 and the same code was used on Troubled Child, a 1986 Jeep Grand Wagoneer to win 1st in 2014.
Dependencies: mbed Watchdog SDFileSystem DigoleSerialDisp
Diff: Estimation/kalman.cpp
- Revision:
- 2:fbc6e3cf3ed8
- Parent:
- 0:a6a169de725f
- Child:
- 3:42f3821c4e54
--- a/Estimation/kalman.cpp Tue May 28 13:58:35 2013 +0000
+++ b/Estimation/kalman.cpp Thu Jun 06 13:40:23 2013 +0000
@@ -14,8 +14,8 @@
static float H[4]={ 1, 0, 0, 1 }; // Observer matrix maps measurements to state transition
float K[4]={ 0, 0, 0, 0 }; // Kalman gain
static float P[4]={ 1000, 0, 0, 1000 }; // Covariance matrix
-static float R[4]={ 3, 0, 0, 0.03 }; // Measurement noise, hdg, hdg rate
-static float Q[4]={ 0.01, 0, 0, 0.01 }; // Process noise matrix
+static float R[4]={ 100, 0, 0, 0.03 }; // Measurement noise, hdg, hdg rate
+static float Q[4]={ 100, 0, 0, 0.01 }; // Process noise matrix
static float I[4]={ 1, 0, 0, 1 }; // Identity matrix
float kfGetX(int i)