Tawanda M / Mbed 2 deprecated CSSE4011_BLE_IMU_Project_rev2

CSSE

Dependencies:   BLE_API eMPL_MPU6050 mbed nRF51822

Diff: kalman.h

Revision:
3:88db44c43914
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/kalman.h	Thu Jun 04 05:50:26 2015 +0000
@@ -0,0 +1,36 @@
+#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
+
+
+
+