Hello,
I am currently working on APM 2.0 to implement Kalman filter using GPS and INS data using 9 by 9 state matrix, [P_x,V_x,Pl_x,P_y,V_y,PI_y,P_z,V_z,PI_z]', where PI_x,PI_y, and PI_z represent platform tilt about x, y, and z axis.
A problem is that newly updated global matrices X and P are not transferred to next iteration although I defined those as global matrices.
As far as I tested, a single global variable which is defined before void setup() works well as a global variable in that the previous value of the variable is successfully transferred into next iteration.
Is there anyone who could shed some lights on me?
Replies
Hi Sunghun,
Did you get solution to your problem ? If so could you tell me what as I am also working on Kalman filter using this board. Moreover, I wanted to know where in the code is kalman filter implemented in ArduPlane (or any Ardu code)..
Seeking your reply.