Paparazzi UAS
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Paparazzi is a free software Unmanned Aircraft System.
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alt_filter.h
Go to the documentation of this file.
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/*
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* Copyright (C) 2010 ENAC
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*
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* This file is part of paparazzi.
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*
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* paparazzi is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2, or (at your option)
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* any later version.
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*
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* paparazzi is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with paparazzi; see the file COPYING. If not, write to
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* the Free Software Foundation, 59 Temple Place - Suite 330,
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* Boston, MA 02111-1307, USA.
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*
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*/
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#ifndef ALT_FILTER_H
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#define ALT_FILTER_H
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/*************************************************************************/
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/*************************************************************************/
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/* Kalman 3 states Filter for GPS / barometer and IMU fusion
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*/
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/*************************************************************************/
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/*************************************************************************/
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#define KALT_N_ETAT 3
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typedef
struct
{
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float
Te
;
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float
P[
KALT_N_ETAT
][
KALT_N_ETAT
];
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float
W[
KALT_N_ETAT
- 1][
KALT_N_ETAT
- 1];
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float
X[
KALT_N_ETAT
];
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float
Bd[
KALT_N_ETAT
];
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float
Ad[
KALT_N_ETAT
][
KALT_N_ETAT
];
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float
Md[
KALT_N_ETAT
][
KALT_N_ETAT
- 1];
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}
TypeKalman
;
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extern
TypeKalman
alt_filter
;
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extern
void
alt_filter_init
(
void
);
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extern
void
alt_filter_periodic
(
void
);
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#endif
TypeKalman
Definition:
alt_filter.h:38
KALT_N_ETAT
#define KALT_N_ETAT
Definition:
alt_filter.h:36
alt_filter_periodic
void alt_filter_periodic(void)
Definition:
alt_filter.c:61
alt_filter_init
void alt_filter_init(void)
Definition:
alt_filter.c:49
TypeKalman::Te
float Te
Definition:
alt_filter.h:39
alt_filter
TypeKalman alt_filter
Definition:
alt_filter.c:31
sw
airborne
modules
ins
alt_filter.h
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