forked from Archive/PX4-Autopilot
36 lines
809 B
C
36 lines
809 B
C
/*
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* kalman.h
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*
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* Created on: 01.12.2010
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* Author: Laurens Mackay
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*/
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#ifndef KALMAN_H_
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#define KALMAN_H_
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#include "matrix.h"
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#define KALMAN_MAX_STATES 12
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#define KALMAN_MAX_MEASUREMENTS 9
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typedef struct {
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int states;
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int measurements;
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matrix_t a;
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matrix_t c;
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matrix_t gain_start;
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matrix_t gain;
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matrix_t x_apriori;
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matrix_t x_aposteriori;
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float gainfactor;
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int gainfactorsteps;
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} kalman_t;
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void kalman_init(kalman_t *kalman, int states, int measurements, m_elem a[],
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m_elem c[], m_elem gain_start[], m_elem gain[], m_elem x_apriori[],
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m_elem x_aposteriori[], int gainfactorsteps);
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void kalman_predict(kalman_t *kalman);
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void kalman_correct(kalman_t *kalman, m_elem measurement_a[], m_elem mask_a[]);
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m_elem kalman_get_state(kalman_t *kalman, int state);
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#endif /* KALMAN_H_ */
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