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:
 *
 * * Redistributions of source code must retain the above copyright notice, this
 *   list of conditions and the following disclaimer.
 *
 * * Redistributions in binary form must reproduce the above copyright notice,
 *   this list of conditions and the following disclaimer in the documentation
 *   and/or other materials provided with the distribution.
 *
 * * Neither the name of the copyright holder nor the names of its
 *   contributors may be used to endorse or promote products derived from
 *   this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef ROSFLIGHT_FIRMWARE_ESTIMATOR_H
#define ROSFLIGHT_FIRMWARE_ESTIMATOR_H

#include <stdint.h>
#include <stdbool.h>
#include <math.h>

#include <turbomath/turbomath.h>

namespace rosflight_firmware
{

class ROSflight;

class Estimator
{

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_;
  }

  void init();
  void run();
  void reset_state();
  void reset_adaptive_bias();
  void set_attitude_correction(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_;

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

  turbomath::Vector bias_;

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

  turbomath::Vector w_acc_;

  bool attitude_correction_next_run_;
  turbomath::Quaternion q_correction_;

  void run_LPF();
};

} // namespace rosflight_firmware

#endif // ROSFLIGHT_FIRMWARE_ESTIMATOR_H