view include/Kalman.h @ 149:134bff10e561 ClockSync

Added simple one-variable one-measurement Kalman filter, Pid controller(which output is not used). Virtual clock is now much more precise and reactive for period. Still it is lagging behind a bit on the overall offset.

/*
 * Kalman.h
 *
 *  Created on: 20 Sep 2015
 *      Author: giulio
 */

#ifndef KALMAN_H_
#define KALMAN_H_

class KalmanOne{
public:
	double A;
	double H;
	double Q;
	double R;
	double x;
	double P;
	void init(double newQ, double newR, double newX);
	double process(double z);
};



#endif /* KALMAN_H_ */