#include "include.h"
s16 Angle=0;
float Gyro_x=0;
float Q_angle=1;//0.0001;
float Q_gyro=0.3;//0.00003;
float R_angle=0.01;
float dt=0.001;//0.005;
float C_0 = 1.0;
float Q_bias=0, Angle_err=0;
float PCt_0=0.0, PCt_1=0, E=0.0;
float K_0=0.0, K_1=0.0, t_0=0.0, t_1=0.0;
float Pdot[4] ={0,0,0,0};
float PP[2][2] = { { 1.0, 0 },{ 0, 1.0 } };
void Kalman_Filter(int Gyro,int Accel)
{
Angle+=(Gyro - Q_bias) * dt;
Pdot[0]=Q_angle - PP[0][1] - PP[1][0];
Pdot[1]=- PP[1][1];
Pdot[2]=- PP[1][1];
Pdot[3]=Q_gyro;
PP[0][0] += Pdot[0] * dt;
PP[0][1] += Pdot[1] * dt;
PP[1][0] += Pdot[2] * dt;
PP[1][1] += Pdot[3] * dt;
Angle_err =Accel-Angle;
PCt_0 = C_0 * PP[0][0];
PCt_1 = C_0 * PP[1][0];
E = R_angle + C_0 * PCt_0;
K_0 = PCt_0 / E;
K_1 = PCt_1 / E;
t_0 = PCt_0;
t_1 = C_0 * PP[0][1];
PP[0][0] -= K_0 * t_0;
PP[0][1] -= K_0 * t_1;
PP[1][0] -= K_1 * t_0;
PP[1][1] -= K_1 * t_1;
Angle += K_0 * Angle_err;
Q_bias += K_1 * Angle_err;
Gyro_x = Gyro - Q_bias;
}
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