eive-obsw/mission/controller/acs/Navigation.h
meggert 352053f1d2
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this mekf should work
2024-02-27 16:05:05 +01:00

35 lines
1.3 KiB
C++

#ifndef NAVIGATION_H_
#define NAVIGATION_H_
#include <fsfw/coordinates/Sgp4Propagator.h>
#include <mission/acs/defs.h>
#include <mission/controller/acs/AcsParameters.h>
#include <mission/controller/acs/MultiplicativeKalmanFilter.h>
#include <mission/controller/acs/SensorValues.h>
#include <mission/controller/controllerdefinitions/AcsCtrlDefinitions.h>
class Navigation {
public:
Navigation(AcsParameters *acsParameters);
virtual ~Navigation();
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:
MultiplicativeKalmanFilter multiplicativeKalmanFilter;
ReturnValue_t mekfStatus = MultiplicativeKalmanFilter::MEKF_UNINITIALIZED;
Sgp4Propagator sgp4Propagator;
};
#endif /* ACS_NAVIGATION_H_ */