Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-05-28 09:58:23 +08:00
Code Issues Actions 31 Packages Projects Releases Wiki Activity

change file format

Browse Source
This commit is contained in:
Gautier Hattenberger
2011-06-09 15:32:27 +02:00
parent 19bf33d4c0
commit c9d7d1c4b2
2 changed files with 316 additions and 316 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/modules/ins/alt_filter.c
+262 -262
View File
File diff suppressed because it is too large Load Diff
sw/airborne/modules/ins/alt_filter.h
+54 -54
View File
@@ -1,54 +1,54 @@
/* /*
* Copyright (C) 2010 ENAC * Copyright (C) 2010 ENAC
* *
* This file is part of paparazzi. * This file is part of paparazzi.
* *
* paparazzi is free software; you can redistribute it and/or modify * paparazzi is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2, or (at your option) * the Free Software Foundation; either version 2, or (at your option)
* any later version. * any later version.
* *
* paparazzi is distributed in the hope that it will be useful, * paparazzi is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to * along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330, * the Free Software Foundation, 59 Temple Place - Suite 330,
* Boston, MA 02111-1307, USA. * Boston, MA 02111-1307, USA.
* *
*/ */
#ifndef ALT_FILTER_H #ifndef ALT_FILTER_H
#define ALT_FILTER_H #define ALT_FILTER_H
/*************************************************************************/ /*************************************************************************/
/*************************************************************************/ /*************************************************************************/
/* Kalman 3 states Filter for GPS / barometer and IMU fusion /* Kalman 3 states Filter for GPS / barometer and IMU fusion
*/ */
/*************************************************************************/ /*************************************************************************/
/*************************************************************************/ /*************************************************************************/
#define KALT_N_ETAT 3 #define KALT_N_ETAT 3
typedef struct typedef struct
{ {
float Te; float Te;
float P[KALT_N_ETAT][KALT_N_ETAT]; float P[KALT_N_ETAT][KALT_N_ETAT];
float W[KALT_N_ETAT-1][KALT_N_ETAT-1]; float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
float X[KALT_N_ETAT]; float X[KALT_N_ETAT];
float Bd[KALT_N_ETAT]; float Bd[KALT_N_ETAT];
float Ad[KALT_N_ETAT][KALT_N_ETAT]; float Ad[KALT_N_ETAT][KALT_N_ETAT];
float Md[KALT_N_ETAT][KALT_N_ETAT-1]; float Md[KALT_N_ETAT][KALT_N_ETAT-1];
} TypeKalman; } TypeKalman;
extern TypeKalman alt_filter; extern TypeKalman alt_filter;
extern void alt_filter_init(void); extern void alt_filter_init(void);
extern void alt_filter_periodic(void); extern void alt_filter_periodic(void);
#endif #endif