diff options
Diffstat (limited to 'src-avr/ao_kalman.h')
| -rw-r--r-- | src-avr/ao_kalman.h | 67 |
1 files changed, 67 insertions, 0 deletions
diff --git a/src-avr/ao_kalman.h b/src-avr/ao_kalman.h new file mode 100644 index 00000000..1c375af5 --- /dev/null +++ b/src-avr/ao_kalman.h @@ -0,0 +1,67 @@ +/* Kalman matrix for both + * step = 0.01 + * σ_m = 2 + * σ_h = 6 + * σ_a = 2 + */ + +#define AO_BOTH_K00_100 to_fix32(0.0081313788) +#define AO_BOTH_K01_100 to_fix32(0.0000026340) +#define AO_BOTH_K10_100 to_fix32(0.0531117402) +#define AO_BOTH_K11_100 to_fix32(0.0038194319) +#define AO_BOTH_K20_100 to_fix32(0.0000749238) +#define AO_BOTH_K21_100 to_fix32(0.6180339885) + +/* Kalman matrix for both + * step = 0.1 + * σ_m = 2 + * σ_h = 6 + * σ_a = 2 + */ + +#define AO_BOTH_K00_10 to_fix32(0.0783434385) +#define AO_BOTH_K01_10 to_fix32(0.0002339223) +#define AO_BOTH_K10_10 to_fix32(0.5113498998) +#define AO_BOTH_K11_10 to_fix32(0.0379865308) +#define AO_BOTH_K20_10 to_fix32(0.0066537889) +#define AO_BOTH_K21_10 to_fix32(0.6180320115) + +/* Kalman matrix for accel + * step = 0.01 + * σ_m = 2 + * σ_a = 4 + */ + +#define AO_ACCEL_K0_100 to_fix32(0.0000078547) +#define AO_ACCEL_K1_100 to_fix32(0.0060961179) +#define AO_ACCEL_K2_100 to_fix32(0.3903882032) + +/* Kalman matrix for accel + * step = 0.1 + * σ_m = 2 + * σ_a = 4 + */ + +#define AO_ACCEL_K0_10 to_fix32(0.0007854668) +#define AO_ACCEL_K1_10 to_fix32(0.0609611795) +#define AO_ACCEL_K2_10 to_fix32(0.3903882032) + +/* Kalman matrix for baro + * step = 0.01 + * σ_m = 2 + * σ_h = 6 + */ + +#define AO_BARO_K0_100 to_fix32(0.0623382088) +#define AO_BARO_K1_100 to_fix32(3.2096898314) +#define AO_BARO_K2_100 to_fix32(5.1644233483) + +/* Kalman matrix for baro + * step = 0.1 + * σ_m = 2 + * σ_h = 6 + */ + +#define AO_BARO_K0_10 to_fix32(0.2582626767) +#define AO_BARO_K1_10 to_fix32(6.1612340969) +#define AO_BARO_K2_10 to_fix32(4.5932892444) |