public IMU(int dt)
{
accel = new Accelerometer();
mag = new Magnometer();
gyro = new Gyroscope();
g = new GPS();
K = new Kalman(dt);
}
public IMU(int dt)
{
accel = new Accelerometer();
mag = new Magnometer();
gyro = new Gyroscope();
g = new GPS();
K = new Kalman(dt);
}
public void KalmanFilter()
{
mousePoints = new List <PointF>();
kalmanPoints = new List <PointF>();
kal = new Kalman(4, 2, 0);
syntheticData = new SyntheticData();
Matrix <float> state = new Matrix <float>(new float[]
{
0.0f, 0.0f, 0.0f, 0.0f
});
kal.CorrectedState = state;
kal.TransitionMatrix = syntheticData.transitionMatrix;
kal.MeasurementNoiseCovariance = syntheticData.measurementNoise;
kal.ProcessNoiseCovariance = syntheticData.processNoise;
kal.ErrorCovariancePost = syntheticData.errorCovariancePost;
kal.MeasurementMatrix = syntheticData.measurementMatrix;
}
