Paparazzi UAS  v7.0_unstable
Paparazzi is a free software Unmanned Aircraft System.
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
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2, or (at your option)
9  * any later version.
10  *
11  * paparazzi is distributed in the hope that it will be useful,
12  * but WITHOUT ANY WARRANTY; without even the implied warranty of
13  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14  * GNU General Public License for more details.
15  *
16  * You should have received a copy of the GNU General Public License
17  * along with paparazzi; see the file COPYING. If not, write to
18  * the Free Software Foundation, 59 Temple Place - Suite 330,
19  * Boston, MA 02111-1307, USA.
20  *
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  float Te;
41  float W[KALT_N_ETAT - 1][KALT_N_ETAT - 1];
42  float X[KALT_N_ETAT];
43  float Bd[KALT_N_ETAT];
45  float Md[KALT_N_ETAT][KALT_N_ETAT - 1];
46 } TypeKalman;
47 
48 extern TypeKalman alt_filter;
49 
50 extern void alt_filter_init(void);
51 extern void alt_filter_periodic(void);
52 
53 #endif
TypeKalman alt_filter
Definition: alt_filter.c:31
float Te
Definition: alt_filter.h:39
void alt_filter_init(void)
Definition: alt_filter.c:49
void alt_filter_periodic(void)
Definition: alt_filter.c:61
#define KALT_N_ETAT
Definition: alt_filter.h:36
static float P[3][3]
Definition: trilateration.c:31