kalman.h

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/*
 * Copyright (c) 2021 Marti Riba Pons
 *
 * SPDX-License-Identifier: Apache-2.0
 */
 
#ifndef ZEPHYR_INCLUDE_ZSL_FUSION_KALMAN_H_
#define ZEPHYR_INCLUDE_ZSL_FUSION_KALMAN_H_
 
#include <zsl/zsl.h>
#include <zsl/vectors.h>
#include <zsl/matrices.h>
#include <zsl/orientation/quaternions.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
/* Source: https://ahrs.readthedocs.io/en/latest/filters/ekf.html */
 
struct zsl_fus_kalm_cfg {
    zsl_real_t var_g;
 
    zsl_real_t var_a;
 
    zsl_real_t var_m;
 
    struct zsl_mtx P;
 
};
 
int zsl_fus_kalm_init(uint32_t freq, void *cfg);
 
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);
 
void zsl_fus_kalm_error(int error);
 
#ifdef __cplusplus
}
#endif
 
#endif /* ZEPHYR_INCLUDE_ZSL_FUSION_KALMAN_H_ */
 /* End of algorithms group */