kalmanFilter.h

/******************************************************************************
The kalmanFilter.h in RaspberryPilot project is placed under the MIT license

Copyright (c) 2016 jellyice1986 (Tung-Cheng Wu)

Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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SOFTWARE.
******************************************************************************/

typedef struct {
	char  name[10]; //name of KALMAN_1D entity
	float prevData;
    float p;     // estimate covariance
	float q; // covariance of process noise
	float r;   // covariance of observation noise
	float kGain; // Kalman gain
} KALMAN_1D_STRUCT;


float kalmanFilterOneDimCalc(float inData,KALMAN_1D_STRUCT *kalmanStruct);
void initkalmanFilterOneDimEntity(KALMAN_1D_STRUCT *kalmanStruct,char *name, float prevData, float p,float q,float r, float kGain);