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Gautier Hattenberger
2011-06-09 15:32:27 +02:00
parent 19bf33d4c0
commit c9d7d1c4b2
2 changed files with 316 additions and 316 deletions
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sw/airborne/modules/ins/alt_filter.c
+262 -262
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sw/airborne/modules/ins/alt_filter.h
+54 -54
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@@ -1,54 +1,54 @@
/*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
*
* paparazzi 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, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef ALT_FILTER_H
#define ALT_FILTER_H
/*************************************************************************/
/*************************************************************************/
/* Kalman 3 states Filter for GPS / barometer and IMU fusion
*/
/*************************************************************************/
/*************************************************************************/
#define KALT_N_ETAT 3
typedef struct
{
float Te;
float P[KALT_N_ETAT][KALT_N_ETAT];
float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
float X[KALT_N_ETAT];
float Bd[KALT_N_ETAT];
float Ad[KALT_N_ETAT][KALT_N_ETAT];
float Md[KALT_N_ETAT][KALT_N_ETAT-1];
} TypeKalman;
extern TypeKalman alt_filter;
extern void alt_filter_init(void);
extern void alt_filter_periodic(void);
#endif
/*
* Copyright (C) 2010 ENAC
*
* This file is part of paparazzi.
*
* paparazzi 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, or (at your option)
* any later version.
*
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA.
*
*/
#ifndef ALT_FILTER_H
#define ALT_FILTER_H
/*************************************************************************/
/*************************************************************************/
/* Kalman 3 states Filter for GPS / barometer and IMU fusion
*/
/*************************************************************************/
/*************************************************************************/
#define KALT_N_ETAT 3
typedef struct
{
float Te;
float P[KALT_N_ETAT][KALT_N_ETAT];
float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
float X[KALT_N_ETAT];
float Bd[KALT_N_ETAT];
float Ad[KALT_N_ETAT][KALT_N_ETAT];
float Md[KALT_N_ETAT][KALT_N_ETAT-1];
} TypeKalman;
extern TypeKalman alt_filter;
extern void alt_filter_init(void);
extern void alt_filter_periodic(void);
#endif