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/*
* inertial_filter.c
*
* Copyright (C) 2013 Anton Babushkin. All rights reserved.
* Author: Anton Babushkin <rk3dov@gmail.com>
*/
#include <math.h>
#include "inertial_filter.h"
void inertial_filter_predict(float dt, float x[2], float acc)
{
if (isfinite(dt)) {
if (!isfinite(acc)) {
acc = 0.0f;
}
x[0] += x[1] * dt + acc * dt * dt / 2.0f;
x[1] += acc * dt;
}
}
void inertial_filter_correct(float e, float dt, float x[2], int i, float w)
{
if (isfinite(e) && isfinite(w) && isfinite(dt)) {
float ewdt = e * w * dt;
x[i] += ewdt;
if (i == 0) {
x[1] += w * ewdt;
}
}
}
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