Comment by Pat on April 13, 2009 at 10:50am

Tom,
If you already wrote the Kalman filter in Matlab, you could implement it in Simulink in an S-function block. You should be able to do the whole thing with very few blocks if you do most of the work in the S-function. You could also write it in C for the S-function, which should hopefully make it more portable for the Arduino.
Pat

Comment by Tom Yochum on April 13, 2009 at 12:23pm

Pat,

Thanks for the reply. I did write the Kalman as an S-block. The 300 blocks is coming from the 6-DOF, environmental data, etc that are all implemented as Simulink blocks. I'm going to have to convert some of those to S-functions, and I am not looking forward to that!

Comment by Pat on April 13, 2009 at 12:33pm

The good news is that the equations of motion and environmental data are really good candidates for S-functions, since one they are tested, you can treat them as block boxes that don't require all the flexibility you get with Simulink blocks. Good luck!

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