position_kalman.h

/*=====================================================================
 
 PIXHAWK Micro Air Vehicle Flying Robotics Toolkit
 
 (c) 2009, 2010 PIXHAWK PROJECT  <http://pixhawk.ethz.ch>
 
 This file is part of the PIXHAWK project
 
 PIXHAWK 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.
 
 PIXHAWK 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 PIXHAWK. If not, see <http://www.gnu.org/licenses/>.
 
 ======================================================================*/

/**
 * @file
 *   @brief This is an example file
 *
 *   This is the more detailed description of this file.
 *
 *   @author Firstname Lastname <mavteam@student.ethz.ch>
 *
 */

/** @addtogroup sensor_fusion */
/*@{*/

#ifndef _POSITION_KALMAN_H_
#define _POSITION_KALMAN_H_

#include "inttypes.h"
#include "global_data.h"

//typedef struct
//{
//    float x;
//    float y;
//    float z;
//    } float_vect3;


//typedef struct {
//        float_vect3 pos;
//        float_vect3 ang;
//
//        float confidence;
//        float time_captured;
//        float comp_end;
//
//        int new_data; /* New data available = 1; No new Data = 0 */
//
//        } vision;


/** @brief Function that does nothing 
 @param acell: accellerations in Navigation frame
 @param data: positions, angles, times in Navigation frame
 @param pos_est: Estimated Positions given back by the function in Navigation frame*/

void position_kalman_init(void);

void position_kalman(float_vect3* acell, vision_t* data, float_vect3* pos_est,
		float_vect3* vel_est);
void x_position_kalman(float_vect3 acell, vision_t data, float_vect3* pos_est,int N);

#endif /* _POSITION_KALMAN_H_ */

/*@}*/