N4 Flight Software N4
Flight software used for the N4 flight computers
Loading...
Searching...
No Matches
kalman_filter.h
Go to the documentation of this file.
1
7
8#ifndef KALMAN_FILTER_H
9#define KALMAN_FILTER_H
10
11#include <Arduino.h>
12#include <BasicLinearAlgebra.h>
13#include "defs.h"
14
15extern float estimated_altitude;
16extern float error_covariance_bmp;
17extern float process_variance_bmp;
18extern float measurement_variance_bmp;
19extern float kalman_gain_bmp;
20
21/* Kalman matrices for altitude and vertical velocity */
22extern float altitude_kalman, velocity_vertical_kalman;
23extern BLA::Matrix<2,2> F, P, Q, I;
24extern BLA::Matrix<2,1> G, S, K;
25extern BLA::Matrix<1,2> H;
26extern BLA::Matrix<1,1> R, L, inv_L, Acc, M;
27
28/* MPU variables */
29extern float x_acc;
30extern float x_acc_g;
31extern float x_acc_offset;
32extern float roll, pitch;
33
34extern float bmp_altitude;
35
36void init_kalman_matrices();
37
38#endif
defs.h
necessary miscellaneous defines for various tasks and functions
init_kalman_matrices
void init_kalman_matrices()
Definition kalman_filter.cpp:14