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--- code:optimised_kalman [2008/11/30 05:19] – laurenceb
+++ code:optimised_kalman [2008/11/30 05:21] (current) – laurenceb
@@ Line 1: / Line 1: @@
+ This is optimised for use with GPS/rate gyro aided heading estimators. Reduced stack, flash and clock cycle use compared to the non optimised filter. Total runtime on atmega168 is 630us
 <code c>
 		//Optimised Kalman filter code, all capitalised variables are filter parameters