Complete position estimator implemented (GPS + Baro + Accel)

1 files changed, 13 insertions, 0 deletions

diff --git a/src/modules/position_estimator_inav/inertial_filter.h b/src/modules/position_estimator_inav/inertial_filter.h
new file mode 100644
index 000000000..18c194abf
--- /dev/null
+++ b/src/modules/position_estimator_inav/inertial_filter.h
@@ -0,0 +1,13 @@
+/*
+ * inertial_filter.h
+ *
+ *   Copyright (C) 2013 Anton Babushkin. All rights reserved.
+ *   Author: 	Anton Babushkin	<rk3dov@gmail.com>
+ */
+
+#include <stdbool.h>
+#include <drivers/drv_hrt.h>
+
+void inertial_filter_predict(float dt, float x[3]);
+
+void inertial_filter_correct(float dt, float x[3], int i, float z, float w);