23 lines
502 B
C
23 lines
502 B
C
//
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// Created by SJQ on 2024/1/13.
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//
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#ifndef WHEEL_LEGGED_OBSERVER_H
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#define WHEEL_LEGGED_OBSERVER_H
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#include "kalman_filter.h"
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typedef struct
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{
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KalmanFilter_t stateEstimateKF; //使用KF作为状态观测器
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float Estimate_X[6]; //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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}BalanceObserver;
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void Observer_Init(BalanceObserver* observer);
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void Observer_Estimate(BalanceObserver* observer,float* zk,float* uk,float L0);
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#endif //WHEEL_LEGGED_OBSERVER_H
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