//
// Created by SJQ on 2024/1/13.
//

#ifndef WHEEL_LEGGED_OBSERVER_H
#define WHEEL_LEGGED_OBSERVER_H

#include "kalman_filter.h"

typedef struct
{
    KalmanFilter_t stateEstimateKF; //使用KF作为状态观测器
    float Estimate_X[6]; //观测器估计的状态量

    uint32_t DWT_CNT;  //计时用
    float dt;
}BalanceObserver;

void Observer_Init(BalanceObserver* observer);
void Observer_Estimate(BalanceObserver* observer,float* zk,float* uk,float L0);

#endif //WHEEL_LEGGED_OBSERVER_H