mirror of
https://github.com/eddyem/small_tel.git
synced 2026-03-24 10:40:56 +03:00
35 lines
1.2 KiB
C
35 lines
1.2 KiB
C
/*
|
|
* This file is part of the libsidservo project.
|
|
* Copyright 2026 Edward V. Emelianov <edward.emelianoff@gmail.com>.
|
|
*
|
|
* This program is free software: you can redistribute it and/or modify
|
|
* it under the terms of the GNU General Public License as published by
|
|
* the Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This program is distributed in the hope that it will be useful,
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
* GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License
|
|
* along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
typedef struct{
|
|
double x[3]; // [theta, omega, alpha]
|
|
double P[3][3]; // covariance
|
|
double Q[3][3]; // process noise
|
|
double R; // measurement noise
|
|
double dt;
|
|
} Kalman3;
|
|
|
|
|
|
double encoder_noise(int counts);
|
|
void kalman3_update(Kalman3 *kf, double z);
|
|
void kalman3_predict(Kalman3 *kf);
|
|
void kalman3_set_jerk_noise(Kalman3 *kf, double sigma_j);
|
|
void kalman3_init(Kalman3 *kf, double dt, double enc_var);
|