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this mekf should work
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This commit is contained in:
Marius Eggert
2024-02-27 16:05:05 +01:00
parent f382bd3e61
commit 352053f1d2
6 changed files with 757 additions and 1214 deletions
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14
mission/controller/acs/Navigation.h
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@ -5,24 +5,24 @@
#include <mission/acs/defs.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/SensorProcessing.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
class Navigation {
public:
Navigation();
Navigation(AcsParameters *acsParameters);
virtual ~Navigation();
ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
acsctrl::GyrDataProcessed *gyrDataProcessed,
acsctrl::MgmDataProcessed *mgmDataProcessed,
acsctrl::SusDataProcessed *susDataProcessed,
acsctrl::AttitudeEstimationData *mekfData, AcsParameters *acsParameters);
ReturnValue_t useMekf(const ACS::SensorValues *sensorValues,
const acsctrl::GyrDataProcessed *gyrDataProcessed,
const acsctrl::MgmDataProcessed *mgmDataProcessed,
const acsctrl::SusDataProcessed *susDataProcessed, const double timeDelta,
acsctrl::AttitudeEstimationData *attitudeEstimationData);
void resetMekf(acsctrl::AttitudeEstimationData *mekfData);
ReturnValue_t useSpg4(timeval now, acsctrl::GpsDataProcessed *gpsDataProcessed);
ReturnValue_t updateTle(const uint8_t *line1, const uint8_t *line2);
void updateMekfStandardDeviations(const AcsParameters *acsParameters);
protected:
private: