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outlierFilterTdoaSteps.h
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outlierFilterTdoaSteps.h
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/**
* || ____ _ __
* +------+ / __ )(_) /_______________ _____ ___
* | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
* +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
* || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
*
* Copyright (C) 2011-2023 Bitcraze AB
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, in version 3.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
* Outlier rejection filter for the kalman filter
*/
#pragma once
#include "stabilizer_types.h"
// This functionality is deprecated and will be removed after September 2023. Use outlierFilterTdoaValidateIntegrator() instead.
// This code is kept here for a while to make it possible to switch back to the "old" outlier filter if the new one is
// not performing well.
bool outlierFilterTdoaValidateSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos);