#pragma once

#include <fix16.h>
#include <fixmatrix.h>

void kalman_prediction_step(mf16 *X, mf16 *S, const mf16 *F, const mf16 *Q);
void kalman_potter_update(mf16 *X, mf16 *S, const mf16 *H, fix16_t R, fix16_t Y);
void kalman_update(mf16 *X, mf16 *S, const mf16 *H, const mf16 *R, const mf16 *Y);