2024-03-09 15:53:34 +08:00
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//
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// Created by SJQ on 2024/3/7.
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//
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#include "kalman_filter.h"
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#include "bsp_dwt.h"
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#ifndef WHEEL_LEGGED_ESTIMATOR_H
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#define WHEEL_LEGGED_ESTIMATOR_H
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2024-03-17 17:51:24 +08:00
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typedef struct
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{
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2024-03-09 15:53:34 +08:00
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KalmanFilter_t EstimateKF_; //使用KF作为状态观测器
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float Estimate_X_[2]; //观测器估计的状态量
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uint32_t DWT_CNT_; //计时用
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float dt_;
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2024-03-17 17:51:24 +08:00
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}estimator_t;
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2024-03-09 15:53:34 +08:00
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2024-03-17 17:51:24 +08:00
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void estimator_init(estimator_t *est ,float process_noise, float measure_noise);
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void estimator_update(estimator_t *est ,float x,float x_dot,float ax);
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2024-03-09 15:53:34 +08:00
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#endif //WHEEL_LEGGED_ESTIMATOR_H
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