commit 582e2d32671dce0f0e620bc6c2c0d7ea987d2a59
Author: Villuton <Villuton@ficom-it.ru>
Date:   Sat Nov 9 01:02:34 2024 +0300

    fix

diff --git a/Inc/KalmanFilter.h b/Inc/KalmanFilter.h
new file mode 100644
index 0000000..099c155
--- /dev/null
+++ b/Inc/KalmanFilter.h
@@ -0,0 +1,22 @@
+//
+// Created by villuton on 08.11.2024.
+//
+
+#ifndef KALMANFILTER_H
+#define KALMANFILTER_H
+
+#include "vector.h"
+
+typedef struct {
+    float k;
+    float result;
+    float old;
+}tSimpleKalman;
+
+typedef struct {
+    tSimpleKalman x;
+    tSimpleKalman y;
+    tSimpleKalman z;
+}tSimpleKalmanVect3;
+
+#endif //KALMANFILTER_H
diff --git a/Src/KalmanFilter.c b/Src/KalmanFilter.c
new file mode 100644
index 0000000..9b4509a
--- /dev/null
+++ b/Src/KalmanFilter.c
@@ -0,0 +1,31 @@
+//
+// Created by villuton on 08.11.2024.
+//
+#include "KalmanFilter.h"
+void SimpleKalmanInit(tSimpleKalman *env, float k){
+    env->k = k;
+    env->result = (float)0.0;
+    env->old = (float)0.0;
+}
+
+float SimpleKalman(tSimpleKalman *env,float current){
+    env->old = env->result;
+    env->result = env->k  * current +(1-env->k)*env->old;
+    return env->result;
+}
+
+void SimpleKalmanVect3Init(tSimpleKalmanVect3 *env, float k){
+    SimpleKalmanInit(&env->x,k);
+    SimpleKalmanInit(&env->y,k);
+    SimpleKalmanInit(&env->z,k);
+}
+vector3 SimpleKalmanVect3(tSimpleKalmanVect3 *env,vector3 current){
+    vector3 result = {
+            SimpleKalman(&env->x,current.x),
+            SimpleKalman(&env->y,current.y),
+            SimpleKalman(&env->z,current.z)
+    };
+    return result;
+}
+
+
diff --git a/modular.json b/modular.json
new file mode 100644
index 0000000..6661722
--- /dev/null
+++ b/modular.json
@@ -0,0 +1,17 @@
+{
+  "dep": [
+    {
+      "type": "git",
+      "provider": "ficom_modules",
+      "repo": "BaseTypes"
+    }
+  ],
+  "cmake": {
+    "inc_dirs": [
+      "Inc"
+    ],
+    "srcs": [
+      "Src/**.c"
+    ]
+  }
+}
\ No newline at end of file