1 files changed, 35 insertions, 0 deletions
diff --git a/apps/px4/attitude_estimator_bm/kalman.h b/apps/px4/attitude_estimator_bm/kalman.h
new file mode 100644
index 000000000..0a6a18505
--- /dev/null
+++ b/apps/px4/attitude_estimator_bm/kalman.h
@@ -0,0 +1,35 @@
+/*
+ * kalman.h
+ *
+ *  Created on: 01.12.2010
+ *      Author: Laurens Mackay
+ */
+
+#ifndef KALMAN_H_
+#define KALMAN_H_
+
+#include "matrix.h"
+
+#define KALMAN_MAX_STATES 12
+#define KALMAN_MAX_MEASUREMENTS 9
+typedef struct {
+	int states;
+	int measurements;
+	matrix_t a;
+	matrix_t c;
+	matrix_t gain_start;
+	matrix_t gain;
+	matrix_t x_apriori;
+	matrix_t x_aposteriori;
+	float gainfactor;
+	int gainfactorsteps;
+} kalman_t;
+
+void kalman_init(kalman_t *kalman, int states, int measurements, m_elem a[],
+		 m_elem c[], m_elem gain_start[], m_elem gain[], m_elem x_apriori[],
+		 m_elem x_aposteriori[], int gainfactorsteps);
+void kalman_predict(kalman_t *kalman);
+void kalman_correct(kalman_t *kalman, m_elem measurement_a[], m_elem mask_a[]);
+m_elem kalman_get_state(kalman_t *kalman, int state);
+
+#endif /* KALMAN_H_ */