2022-09-20 14:15:55 +02:00
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/*
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* Navigation.h
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*
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* Created on: 19 Apr 2022
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* Author: Robin Marquardt
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*/
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#ifndef NAVIGATION_H_
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#define NAVIGATION_H_
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2022-11-03 10:43:27 +01:00
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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2022-09-27 11:06:11 +02:00
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#include "AcsParameters.h"
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#include "MultiplicativeKalmanFilter.h"
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2022-11-03 10:43:27 +01:00
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#include "SensorProcessing.h"
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2022-09-27 11:06:11 +02:00
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#include "SensorValues.h"
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2022-09-20 14:15:55 +02:00
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2022-11-03 10:43:27 +01:00
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class Navigation {
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public:
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Navigation(AcsParameters *acsParameters_); // Input mode ?
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virtual ~Navigation();
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void useMekf(ACS::SensorValues *sensorValues, acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData,
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ReturnValue_t *mekfValid);
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void processSensorData();
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protected:
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private:
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MultiplicativeKalmanFilter multiplicativeKalmanFilter;
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AcsParameters acsParameters;
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bool kalmanInit = false;
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2022-09-20 14:15:55 +02:00
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};
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#endif /* ACS_NAVIGATION_H_ */
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