#include "ts.h"

bool ts_test_kalman_filter( void )
{
	fp_t const x0[] = { 1, 2, 3, 4, 5, 6, 7, 8, 9, 10 };

	fp_t const e0[] = {
		1.0,
		1.5024875621890548,
		2.0099009900990099,
		2.5245821283270429,
		3.0487331327055625,
		3.5843788460830162,
		4.1333360364582399,
		4.6971903124447723,
		5.2772810678708257,
		5.8746943630334316
	};

	fp_t const * const x[] = { x0 };
	fp_t const * const e[] = { e0 };

	struct { fp_t Q; fp_t R; } c = { 0.01, 1.0 };

	return ts_test(ts_kalman_filter, ts_kalman_filter_offset, x, e, 10, (ts_constant_t *)&c, &ts_kalman_filter_p);
}