KalmanFilter1d.h

/*
	sensord - Sensor Interface for XCSoar Glide Computer - http://www.openvario.org/
    Copyright (C) 2014  The openvario project
    A detailed list of copyright holders can be found in the file "AUTHORS"

    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/>.
*/

typedef struct {
	float x_abs_;		// the absolute quantity x
	float x_vel_;		// the rate of change of x, in x units per second squared.

	// Covariance matrix for the state
	float p_abs_abs_;
	float p_abs_vel_;
	float p_vel_vel_;

	// The variance of the acceleration noise input to the system model
	float var_x_accel_;
	} t_kalmanfilter1d;

void KalmanFiler1d_update(t_kalmanfilter1d* , float , float , float);
void KalmanFilter1d_reset(t_kalmanfilter1d*);