estimator.h

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/*
 * Copyright (c) 2017, James Jackson and Daniel Koch, BYU MAGICC Lab
 *
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
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 *   list of conditions and the following disclaimer.
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 *   this list of conditions and the following disclaimer in the documentation
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 *   this software without specific prior written permission.
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#ifndef ROSFLIGHT_FIRMWARE_ESTIMATOR_H
#define ROSFLIGHT_FIRMWARE_ESTIMATOR_H

#include "interface/param_listener.h"

#include <turbomath/turbomath.h>

#include <cmath>
#include <cstdbool>
#include <cstdint>

namespace rosflight_firmware
{
class ROSflight;

class Estimator : public ParamListenerInterface
{
public:
  struct State
  {
    turbomath::Vector angular_velocity;
    turbomath::Quaternion attitude;
    float roll;
    float pitch;
    float yaw;
    uint64_t timestamp_us;
  };

  Estimator(ROSflight& _rf);

  inline const State& state() const { return state_; }

  inline const turbomath::Vector& bias() { return bias_; }

  inline const turbomath::Vector& accLPF() { return accel_LPF_; }

  inline const turbomath::Vector& gyroLPF() { return gyro_LPF_; }

  void init();
  void param_change_callback(uint16_t param_id) override;
  void run();
  void reset_state();
  void reset_adaptive_bias();
  void set_external_attitude_update(const turbomath::Quaternion& q);

private:
  const turbomath::Vector g_ = {0.0f, 0.0f, -1.0f};

  ROSflight& RF_;
  State state_;

  uint64_t last_time_;
  uint64_t last_acc_update_us_;
  uint64_t last_extatt_update_us_;

  turbomath::Vector w1_;
  turbomath::Vector w2_;

  turbomath::Vector bias_;

  turbomath::Vector accel_LPF_;
  turbomath::Vector gyro_LPF_;

  turbomath::Vector w_acc_;

  bool extatt_update_next_run_;
  turbomath::Quaternion q_extatt_;

  void run_LPF();

  bool can_use_accel() const;
  bool can_use_extatt() const;
  turbomath::Vector accel_correction() const;
  turbomath::Vector extatt_correction() const;
  turbomath::Vector smoothed_gyro_measurement();
  void integrate_angular_rate(turbomath::Quaternion& quat, const turbomath::Vector& omega, const float dt) const;
  void quaternion_to_dcm(const turbomath::Quaternion& q,
                         turbomath::Vector& X,
                         turbomath::Vector& Y,
                         turbomath::Vector& Z) const;
};

} // namespace rosflight_firmware

#endif // ROSFLIGHT_FIRMWARE_ESTIMATOR_H