kalman.h

/* -*- indent-tabs-mode:T; c-basic-offset:8; tab-width:8; -*- vi: set ts=8:
 * $Id: tilt.h,v 1.1 2003/07/09 18:23:29 john Exp $
 *
 * 1 dimensional tilt sensor using a dual axis accelerometer
 * and single axis angular rate gyro.  The two sensors are fused
 * via a two state Kalman filter, with one state being the angle
 * and the other state being the gyro bias.
 *
 * Gyro bias is automatically tracked by the filter.  This seems
 * like magic.
 *
 * Please see the file tilt.c for more details on the implementation.
 * This header only has comments for the use of the module, not the
 * inner workings.
 * 
 * (c) 2003 Trammell Hudson <hudson@rotomotion.com>
 *
 *************
 *
 *  This file is part of the autopilot onboard code package.
 *  
 *  Autopilot is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *  
 *  Autopilot is distributed in the hope that it will be useful,
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *  
 *  You should have received a copy of the GNU General Public License
 *  along with Autopilot; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 */
#if !defined( KALMAN_H )
#define KALMAN_H

#include <libopencm3/cm3/common.h>

struct KALMAN {
    double angle;
    double dt;
    double J[2][2];
    double P[2][2];
    double x_hat[2];
    double P_medicion;
    double P_gyro_bias;
    double P_teta;
};

extern struct KALMAN k[2];

void kalman_setup();
void KalmanUpdate(u8 n, s32 *acelerometer_average);//struct KALMAN *k, double teta, double gyro);

#endif