KalmanFilter Class Reference

Public Member Functions
	KalmanFilter (struct pointers *pointer_struct)
void	Initialize ()
	Sets altitude by averaging 30 barometer measurements taken 100 ms apart. More...
void	Initialize (float pos_f, float vel_f)
void	priori ()
void	update ()
	Update Kalman Gain.
void	SetQ (float dt, float sd)
void	SetF (float dt)
void	kfTickFunction (float dt, float sd)
	Run Kalman filter calculations as long as FSM has passed IDLE.

Member Function Documentation

Initialize()

void KalmanFilter::Initialize

(

)

Sets altitude by averaging 30 barometer measurements taken 100 ms apart.

The following for loop takes a series of barometer measurements on start up and takes the average of them in order to initialize the kalman filter to the correct initial barometric altitude. This is done so that the kalman filter takes minimal time to converge to an accurate state estimate. This process is significantly faster than allowing the state as letting the filter to converge to the correct state can take up to 3 min. This specific process was used because the barometric altitude will change depending on the weather and thus, the initial state estimate cannot be hard coded. A GPS altitude may be used instead but due to GPS losses during high speed/high altitude flight, it is inadvisable with the current hardware to use this as a solution. Reference frames should also be kept consistent (do not mix GPS altitude and barometric).

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The documentation for this class was generated from the following files:

• flight/mcu/lib/teensyShared/kalmanFilter.h
• flight/mcu/lib/teensyShared/kalmanFilter.cpp