abimann
Member level 4
Hello All
how to implement 1D Kalman filter for data from MPU6050 ?
I found this formula Mn = k * An + (1-k) * M(n-1)
Mn is a result
k is a real or float Kalman gain (from 0 to 1)
An is a measurement
M(n-1) is a previous result
But I dont understand how to use float data, could someone help to program above formula in VHDL ?
I think following is C, it is easy to understand, but in VHDL i dont know howto use float data.
sub Kalman
Mn = k * An
An = 1 - k
Mn1 = Mn1 * An
Mn = Mn + Mn1
Mn1 = Mn
end sub
how to implement 1D Kalman filter for data from MPU6050 ?
I found this formula Mn = k * An + (1-k) * M(n-1)
Mn is a result
k is a real or float Kalman gain (from 0 to 1)
An is a measurement
M(n-1) is a previous result
But I dont understand how to use float data, could someone help to program above formula in VHDL ?
I think following is C, it is easy to understand, but in VHDL i dont know howto use float data.
sub Kalman
Mn = k * An
An = 1 - k
Mn1 = Mn1 * An
Mn = Mn + Mn1
Mn1 = Mn
end sub