Paparazzi UAS  v5.0.5_stable-7-g4b8bbb7
Paparazzi is a free software Unmanned Aircraft System.
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alt_filter.h
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1 /*
2  * Copyright (C) 2010 ENAC
3  *
4  * This file is part of paparazzi.
5  *
6  * paparazzi is free software; you can redistribute it and/or modify
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14  * GNU General Public License for more details.
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21  */
22 
23 #ifndef ALT_FILTER_H
24 #define ALT_FILTER_H
25 
26 
27 /*************************************************************************/
28 /*************************************************************************/
29 
30 /* Kalman 3 states Filter for GPS / barometer and IMU fusion
31  */
32 
33 /*************************************************************************/
34 /*************************************************************************/
35 
36 #define KALT_N_ETAT 3
37 
38 typedef struct
39 {
40  float Te;
42  float W[KALT_N_ETAT-1][KALT_N_ETAT-1];
43  float X[KALT_N_ETAT];
44  float Bd[KALT_N_ETAT];
46  float Md[KALT_N_ETAT][KALT_N_ETAT-1];
47 } TypeKalman;
48 
49 extern TypeKalman alt_filter;
50 
51 extern void alt_filter_init(void);
52 extern void alt_filter_periodic(void);
53 
54 #endif
#define KALT_N_ETAT
Definition: alt_filter.h:36
void alt_filter_periodic(void)
Definition: alt_filter.c:63
void alt_filter_init(void)
Definition: alt_filter.c:52
float Te
Definition: alt_filter.h:40
TypeKalman alt_filter
Definition: alt_filter.c:34