Kalman branch

Josh Leverette's picture

Since the edits I'm doing are sweeping enough to make the code non-functional while the Kalman filter is being developed, I have created a separate branch in git to hold the kalman-enabled code. I have reasonable-seeming values populating most of the initial Kalman state, except for Q which is still to be determined. The next major step will be to implement the Kalman equations in the predict and update functions. Since I believe the covariance between the three axes would be zero, I plan to run three separate multivariate Kalman filters. Each filter has two hidden variables exposed in it, namely position and velocity. I also plan to implement Kalman filtering on the angular data as well, but I've started with the acceleration data.