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From: =?UTF-8?q?=E6=85=95=E7=82=8E?= <29385962@qq.com>
Date: Sat, 1 Jan 2022 11:47:44 +0000
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=E6=96=87=E4=BB=B6=20arduino/?=
 =?UTF-8?q?Betas/RGB=5FV1.1.1/Kalman.h?=
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---
 arduino/Betas/RGB_V1.1.1/Kalman.h | 59 -------------------------------
 1 file changed, 59 deletions(-)
 delete mode 100644 arduino/Betas/RGB_V1.1.1/Kalman.h

diff --git a/arduino/Betas/RGB_V1.1.1/Kalman.h b/arduino/Betas/RGB_V1.1.1/Kalman.h
deleted file mode 100644
index eef6cdb..0000000
--- a/arduino/Betas/RGB_V1.1.1/Kalman.h
+++ /dev/null
@@ -1,59 +0,0 @@
-/* Copyright (C) 2012 Kristian Lauszus, TKJ Electronics. All rights reserved.
-
- This software may be distributed and modified under the terms of the GNU
- General Public License version 2 (GPL2) as published by the Free Software
- Foundation and appearing in the file GPL2.TXT included in the packaging of
- this file. Please note that GPL2 Section 2[b] requires that all works based
- on this software must also be made publicly available under the terms of
- the GPL2 ("Copyleft").
-
- Contact information
- -------------------
-
- Kristian Lauszus, TKJ Electronics
- Web      :  http://www.tkjelectronics.com
- e-mail   :  kristianl@tkjelectronics.com
- */
-
-#ifndef _Kalman_h_
-#define _Kalman_h_
-
-class Kalman {
-public:
-    Kalman();
-
-    // The angle should be in degrees and the rate should be in degrees per second and the delta time in seconds
-    float getAngle(float newAngle, float newRate, float dt);
-
-    void setAngle(float angle); // Used to set angle, this should be set as the starting angle
-    float getRate(); // Return the unbiased rate
-
-    /* These are used to tune the Kalman filter */
-    void setQangle(float Q_angle);
-    /**
-     * setQbias(float Q_bias)
-     * Default value (0.003f) is in Kalman.cpp. 
-     * Raise this to follow input more closely,
-     * lower this to smooth result of kalman filter.
-     */
-    void setQbias(float Q_bias);
-    void setRmeasure(float R_measure);
-
-    float getQangle();
-    float getQbias();
-    float getRmeasure();
-
-private:
-    /* Kalman filter variables */
-    float Q_angle; // Process noise variance for the accelerometer
-    float Q_bias; // Process noise variance for the gyro bias
-    float R_measure; // Measurement noise variance - this is actually the variance of the measurement noise
-
-    float angle; // The angle calculated by the Kalman filter - part of the 2x1 state vector
-    float bias; // The gyro bias calculated by the Kalman filter - part of the 2x1 state vector
-    float rate; // Unbiased rate calculated from the rate and the calculated bias - you have to call getAngle to update the rate
-
-    float P[2][2]; // Error covariance matrix - This is a 2x2 matrix
-};
-
-#endif