Tawanda M / Mbed 2 deprecated CSSE4011_BLE_IMU_Project_rev2

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Dependencies:   BLE_API eMPL_MPU6050 mbed nRF51822

kalman.h

Committer:
tmushie
Date:
2015-06-04
Revision:
3:88db44c43914

File content as of revision 3:88db44c43914:

#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