Extended Kalman Filter code generation error

Mikael_P

2023 6 月 28

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2 ビュー (30 日間)

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Hi,

I am facing some challenges when trying to convert my EKF function to C code using the matlab Coder App. i have declared my own state transition funcion and measurement function and the code is running fine in Matlab. However, when I am truing to convert the EKF function to C code I receive the error:

"Failed to compute constant value for nontunable property 'pDataType'. In code generation, nontunable properties can only be assigned constant values."

I guess this is somehow related to the function handles when creating the extendedKalmanFilter object, but I haven't been able to solve the issue. Does someone have experience or knowledge on this and how should I proceed?

my EKF object is defined as:

persistent myFilter
if isempty(myFilter)
    myFilter = extendedKalmanFilter(@aug_dynamic_model,@measurement_model,xkm1);
end
myFilter.StateCovariance = Pkm1;
myFilter.ProcessNoise = Q_t;
myFilter.MeasurementNoise = R_t;