inquiries about some matrices in the firmware

Firmware/software/electronics/mechanics
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AHMAD SHARIFA
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Posts: 4
Joined: Tue Feb 27, 2018 11:59 am

inquiries about some matrices in the firmware

Post by AHMAD SHARIFA » Wed May 02, 2018 7:08 pm

Hello guys ,

I am trying to understand the Crazyflie firmware,can any body answer me what the following matrices represent in the firmware in kalman filter estimator.c

A[STATE_X][STATE_X], S[STATE_PX] , P[STATE_X][STATE_X], h[STATE_DIM]

please help me, I need definition of each one.
It seems to me like

dx=Ax+Bu
Y=cx+Du

is this assumption is correct ?

arnaud
Bitcraze
Posts: 1650
Joined: Tue Feb 06, 2007 12:36 pm

Re: inquiries about some matrices in the firmware

Post by arnaud » Thu May 03, 2018 7:09 am

Hi,
Have you had a look at the papers linked in the kalman filter? As far as I understand, this filter is an implementation from the referenced paper.

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