Kalman filter, you dampening beast

My angle filter didn't work as expected, it had a high and low pass filter built in but it had some drifting problems where the angle got bigger and bigger.

Why am I not freaking out about this? I found some sweet c# Kalman filter code by Adriaan Swanepoel. It has a few bugs in it that I'm going to report back on. Plus after asking, he switched the license to the BSD license for me instead of the GPL.

Clint's view on a Kalman filter:

It is Magic, but magic that works and has been proven. So going to see if I can't use it. I'm adding in a boolean to say useKalmanFilter. If enabled, I'll use it instead of the high / low pass filter.

So I've decided I need to ship this out by the 28th of April for Maker Faire. I need to swap out the filter and tweak the adjustment variables. I also need to add in code for the deadman switches that arrived while I was in South Dakota. If I do have time, I'll get this working on Windows CE too else a laptop will be strapped to the skateboard somehow.

I'm shocked at how long the batteries last too.

Tim Harter Jun 28, 2008 @ 8:39 PM

# re: Kalman filter, you dampening beast
I am looking for a c# Kalman filter implementation without much luck, and it seems the project you link to is no longer under development. If it is possible to send me the source you recieved, or even your improved version it would be greatly appreciated

Clint Rutkas Jun 28, 2008 @ 9:08 PM

# re: Kalman filter, you dampening beast
Hey Tim, I have 2, both of which I no longer use. One was very bias toward the IMU unit I was using too.

contact me and I'll send you the code for the generic one.

Tim Harter Jul 1, 2008 @ 9:30 PM

# re: Kalman filter, you dampening beast
I send you an e-mail via you contact form, but I figured I'd leave you a message here to, cuz I didn't which would be better to reach you by. My e-mail is tharter@ut.edu, and thanks a ton for the code, its greatly appreciated. :)

Tim Harter Jul 5, 2008 @ 4:53 PM

# re: Kalman filter, you dampening beast
Hey, its me again. I just noticed the next post after this one and was wondering if, when u send me the kalman filter, you could also let me know exactly what the code was missing, or wasnt working properly, that would help me greatly in fixing as I am not too strong in Calc, and fairly new to C# as well. Thanx again, and i cant wait to hear from you. --Tim Harter tharter@ut.edu

Jon Dec 11, 2008 @ 3:48 AM

# re: Kalman filter, you dampening beast
Hi Clint, I am trying to use Adriaan's C# Kalman filter code as well, and can't get it to work. Which bugs did you discover? Would you mind sharing your code? Any hint, help or solution is highly appreciated.
Thanks, Jon

Jeremiah Morrill Jan 2, 2009 @ 5:26 AM

# re: Kalman filter, you dampening beast
Hi Clint,
Hate to solicit your blog like this, but I'm building a UAV (powered by .NET) and I own a SparkFun 6DOF and was hoping to get a head start with the Kalman filter if you could give me some pointers (Adriaan's code seems to be taken down).

Anyways, take it easy,

-Jer

Matthew Jan 23, 2009 @ 3:36 PM

# re: Kalman filter, you dampening beast
Is there still access to Adriaan's code? If there is could I get a link. Thanks

diego martinez Feb 27, 2009 @ 11:42 AM

# re: Kalman filter, you dampening beast
Can I get a copy of Adriaans code, I am working on a navigation project, I would really appreciate it
Thanks

João May 12, 2009 @ 6:15 AM

# re: Kalman filter, you dampening beast
Hi Clint,

I'm looking for a C# Kalman filter implementation. I wonder if you can send me your improved code.
I will be very grateful.
Thank you very much,
João

Ersan Aug 27, 2009 @ 7:42 PM

# re: Kalman filter, you dampening beast
Hi Clint,

im looking for the C# (C++) Kalmanfilter too for my IMU workout.
would be grate if you can send me the files.
thank you,
Ersan

Coskun Sep 5, 2009 @ 6:55 AM

# re: Kalman filter, you dampening beast
Hi Clint,
I am also looking for a C#/C++ kalman filter implementation. Can you send me the code for it?
Thanks in advance.

Clint Sep 6, 2009 @ 9:25 PM

# re: Kalman filter, you dampening beast
@ersan and @coskun I actually used a PID filter, I know someone that does have a kalman filter that works in c# I can see if they'd be willing to open source it. I never verified mine worked as realized one of the sensors was failing, after getting a new IMU, the PID filter I had worked perfectly.

raj Oct 7, 2009 @ 3:39 AM

# Kalman filter for ship navigation in C#
can any budy give the code of kalman filter
and
guide how to calculate error noise covariance matrix for
both measured and input

Roman Nov 24, 2009 @ 12:13 AM

# re: Kalman filter, you dampening beast
Hi, Clint!!
Oh, can you send me this source??
roos@fromru.com
Thanks!!

engii Dec 7, 2009 @ 11:32 PM

# re: Kalman filter, you dampening beast
putting up my hand for the source also if its still available....shame thsi stuff is so hard to come by

engii@hotmail.com

Thanks!!

noir Jan 4, 2010 @ 8:59 AM

# re: Kalman filter, you dampening beast
Hiii,
I am also looking for a C# kalman filter implementation. Can you send me the code for it?
Thanks before.

Gert du Toit Mar 1, 2010 @ 8:01 AM

# re: Kalman filter, you dampening beast
Hi

I'm also desperatly looking for a C# kalman filter to use on our gps filter.

Thanks
Allot

Gert
gertdt@netstar.altech.co.za

zhangchao Mar 9, 2010 @ 7:21 PM

# re: Kalman filter, you dampening beast
Hiii,
I am also looking for a C# kalman filter implementation. Can you send me the code for it?
Thanks before.
zhangchao3457@gmail.com

Mato Apr 8, 2010 @ 9:49 PM

# re: Kalman filter, you dampening beast
Hiii,
I am also looking for a C# kalman filter implementation. Can you send me the code for it?
Thank you very much.
mato_it1@yahoo.com

awinds Aug 10, 2010 @ 9:26 PM

# re: Kalman filter, you dampening beast
I am looking for a C# kalman filter implementation.
Can you send me the code for it?
Thanks.
email: awinds@gmail.com

TTZANKOV Sep 1, 2010 @ 10:31 AM

# re: Kalman filter, you dampening beast
am looking for a C# kalman filter implementation.
Can you send me the code for it too?
Thanks.
email: ttzankov@ yahoo .com

srikanth Sep 2, 2010 @ 9:33 AM

# re: Kalman filter, you dampening beast
I need c# kalman filter . could you please send that to me..I feell very much thankful for that..
Thank you
email:srisatya8@gmail.com OR sri_2e24@yahoo.com

Mauricio Henriquez Sep 8, 2010 @ 5:25 PM

# re: Kalman filter, you dampening beast
Hi, I also need the Kalman filter C# code since I have the exact same problem!!, a gyro from a IMU is giving me growing values :-S ...can you be kind and send me the code please?

Thanks a lot, my mail is buhochile at gmail dot com

Mauricio

Stijn DP Dec 9, 2010 @ 5:45 AM

# re: Kalman filter, you dampening beast
Hi guys,

I am currently researching a Wifi location tracker and also need C# code for a kalman filter implementation. Can someone please send me the code? Thanks in advance!

Stijn

email: stijn [dot] depotter [at] student [dot] artesis [dot] be

yashar Mar 18, 2011 @ 5:02 AM

# re: Kalman filter, you dampening beast
Hi
I need ekf to filter real time data in c# , can you please send your code to me? thank you

john Sep 5, 2011 @ 7:45 AM

# re: Kalman filter, you dampening beast
I am currently doing a RFID location tracker and need to implement kalman filter using C# code. Can someone send me the code? Thanks in advance!

A mix of hardware, C#, and a splash of self-indulgent ego

Kalman filter, you dampening beast

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