21 lines
388 B
C
21 lines
388 B
C
#pragma once
|
|
|
|
#ifdef __cplusplus
|
|
extern "C" {
|
|
#endif
|
|
#include "device/bmi088.h"
|
|
#include "component/ahrs.h"
|
|
typedef struct {
|
|
float z;
|
|
float v;
|
|
float P[2][2];
|
|
float Q_z, Q_v;
|
|
float R;
|
|
} AltitudeKalman;
|
|
|
|
void AltKalman_Init(AltitudeKalman* kf);
|
|
void AltKalman_Update(AltitudeKalman* kf, float accel_z, float baro_alt, float dt);
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|