kalman_filter.c File Reference

#include "utils/kalman_filter.h"
#include <esp_err.h>

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Functions
esp_err_t	kalman1d_init (kalman1d_t *kf, float init_pressure, float process_noise, float measurement_noise)
	Initialize a 1D Kalman filter instance.
float	kalman1d_update (kalman1d_t *kf, float z)
	Perform a single Kalman filter update with a new measurement.

Function Documentation

kalman1d_init()

esp_err_t kalman1d_init	(	kalman1d_t *	kf,
		float	init_pressure,
		float	process_noise,
		float	measurement_noise )

Initialize a 1D Kalman filter instance.

Sets the initial state and noise parameters for the filter.

Larger Q values let the filter adapt faster to changes. Larger R values make the filter trust measurements less.

Parameters

kf	Pointer to the filter instance to initialize.
init_pressure	Initial estimate for the state.
process_noise	Process noise covariance (Q).
measurement_noise	Measurement noise covariance (R).

Returns

esp_err_t ESP_OK on success.

< esp_err_t value indicating success (no error)

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kalman1d_update()

float kalman1d_update	(	kalman1d_t *	kf,
		float	z )

Perform a single Kalman filter update with a new measurement.

Applies the predict and update steps of the Kalman filter:

1. Predict the new state estimate and error covariance.
2. Compute the Kalman gain.
3. Update the state estimate and error covariance with the incoming measurement.

Parameters

kf	Pointer to the filter instance.
z	New measurement.

Returns

float Updated state estimate.

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