Extended Kalman

Extended Kalman sensor fuion algorithm. More...

Files
file	kalman.h
	Extended Kalman filter algorithm.

Data Structures
struct	zsl_fus_kalm_cfg
	Config settings for the extended Kalman filter. More...

Functions
int	zsl_fus_kalm_init (uint32_t freq, void *cfg)
	Sets the sample frequency (in Hz) for the algorithm. More...
int	zsl_fus_kalm_feed (struct zsl_vec *a, struct zsl_vec *m, struct zsl_vec *g, zsl_real_t *incl, struct zsl_quat *q, void *cfg)
	Extended Kalman filter algorithm implementation. More...
void	zsl_fus_kalm_error (int error)
	Default error handler for the extended Kalman filter driver. More...

Detailed Description

Extended Kalman sensor fuion algorithm.

Function Documentation

zsl_fus_kalm_error()

void zsl_fus_kalm_error

(

int

error

)

Default error handler for the extended Kalman filter driver.

Note

Normally you will want to implement your own version of this function.

Parameters

error

The error code genereated.

zsl_fus_kalm_feed()

int zsl_fus_kalm_feed	(	struct zsl_vec *	a,
		struct zsl_vec *	m,
		struct zsl_vec *	g,
		zsl_real_t *	incl,
		struct zsl_quat *	q,
		void *	cfg
	)

Extended Kalman filter algorithm implementation.

Parameters

a	Input accelerometer vector (3 samples required). NULL if none.
m	Input magnetometer vector (3 samples required). NULL if none.
g	Input gyroscope vector (3 samples required). NULL if none.
incl	Input magnetic inclination, in degrees. NULL for none.
q	Pointer to the output zsl_quat.
cfg	Pointer to the config struct for this algorithm.

Returns

int 0 if everything executed correctly, otherwise an appropriate negative error code.

zsl_fus_kalm_init()

int zsl_fus_kalm_init	(	uint32_t	freq,
		void *	cfg
	)

Sets the sample frequency (in Hz) for the algorithm.

Parameters

freq	Sampling frequency in Hz.
cfg	Config struct for this filter.

Returns

int 0 if everything executed correctly, otherwise an appropriate negative error code.