diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-23 22:39:54 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-03-23 22:39:54 +0100 |
| commit | 482cada59ba87bc1ac538f7f165a57880e7fbeda (patch) | |
| tree | cbc8939fb22e9aae5a0e7b0b39f52fad71285f5c /apps/position_estimator_mc/kalman_dlqe1.m | |
| parent | 0dc96dbd891cf108a4ecc01539f5f710c6dd92e9 (diff) | |
| download | px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.tar.gz px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.tar.bz2 px4-firmware-482cada59ba87bc1ac538f7f165a57880e7fbeda.zip | |
Butchered position estimator from Damian Aregger into shape, publishes now global position estimate as well. Compiling, needs HIL testing
Diffstat (limited to 'apps/position_estimator_mc/kalman_dlqe1.m')
| -rwxr-xr-x | apps/position_estimator_mc/kalman_dlqe1.m | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/apps/position_estimator_mc/kalman_dlqe1.m b/apps/position_estimator_mc/kalman_dlqe1.m new file mode 100755 index 000000000..ff939d029 --- /dev/null +++ b/apps/position_estimator_mc/kalman_dlqe1.m @@ -0,0 +1,3 @@ +function [x_aposteriori] = kalman_dlqe1(A,C,K,x_aposteriori_k,z) + x_aposteriori=A*x_aposteriori_k+K*(z-C*A*x_aposteriori_k); +end
\ No newline at end of file |