inquiries about some matrices in the firmware
Posted: 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 ?
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 ?