1 files changed, 0 insertions, 65 deletions
diff --git a/src/AltEst/filters.h b/src/AltEst/filters.h
deleted file mode 100644
index 2e316a3..0000000
--- a/src/AltEst/filters.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-   filters.h: Filter class declarations
- */
-
-#pragma once
-
-//#include <cmath>
-#include <math.h>
-#include <stdint.h>
-
-#include "algebra.h"
-
-class KalmanFilter {
-  private:
-    float currentState[3] = {0, 0, 1};
-    float currErrorCovariance[3][3] = {{100, 0, 0},{0, 100, 0},{0, 0, 100}};
-    float H[3][3] = {{9.81, 0, 0}, {0, 9.81, 0}, {0, 0, 9.81}};
-    float previousAccelSensor[3] = {0, 0, 0};
-    float ca;
-    float sigmaGyro;
-    float sigmaAccel;
-
-    void getPredictionCovariance(float covariance[3][3], float previousState[3], float deltat);
-
-    void getMeasurementCovariance(float covariance[3][3]);
-
-    void predictState(float predictedState[3], float gyro[3], float deltat);
-
-    void predictErrorCovariance(float covariance[3][3], float gyro[3], float deltat);
-
-    void updateGain(float gain[3][3], float errorCovariance[3][3]);
-
-    void updateState(float updatedState[3], float predictedState[3], float gain[3][3], float accel[3]);
-
-    void updateErrorCovariance(float covariance[3][3], float errorCovariance[3][3], float gain[3][3]);
-
-  public:
-
-    KalmanFilter(float ca, float sigmaGyro, float sigmaAccel);
-
-    float estimate(float gyro[3], float accel[3], float deltat);
-
-}; // Class KalmanFilter
-
-class ComplementaryFilter {
-
-  private:
-
-    // filter gain
-    float gain[2];
-    // Zero-velocity update
-    float accelThreshold;
-    static const uint8_t ZUPT_SIZE = 12;
-    uint8_t ZUPTIdx;
-    float   ZUPT[ZUPT_SIZE];
-
-    float ApplyZUPT(float accel, float vel);
-
-  public:
-
-    ComplementaryFilter(float sigmaAccel, float sigmaBaro, float accelThreshold);
-
-    void estimate(float * velocity, float * altitude, float baroAltitude,
-                  float pastAltitude, float pastVelocity, float accel, float deltat);
-}; // Class ComplementaryFilter