------------------------------------------------------------------------------- Estimates roll and yaw given a roll measurement and three axis body rates. ------------------------------------------------------------------------------- Form: xEst = RollYawEstimator( x, omega, roll, rollNoise, dT ) ------------------------------------------------------------------------------- ------ Inputs ------ x (2,1) Initial [roll;yaw] omega (3,:) Body Rates roll (1,:) Roll angle (rad) rollNoise (1,1) 1 sigma roll noise dT (1,1) Time step ------- Outputs ------- xEst (2,:) [roll;yaw] -------------------------------------------------------------------------------