29 lines
839 B
C++
29 lines
839 B
C++
#ifndef NAVIGATION_H_
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#define NAVIGATION_H_
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#include "../controllerdefinitions/AcsCtrlDefinitions.h"
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#include "AcsParameters.h"
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#include "MultiplicativeKalmanFilter.h"
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#include "SensorProcessing.h"
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#include "SensorValues.h"
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class Navigation {
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public:
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Navigation(AcsParameters *acsParameters_);
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virtual ~Navigation();
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ReturnValue_t useMekf(ACS::SensorValues *sensorValues,
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acsctrl::GyrDataProcessed *gyrDataProcessed,
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acsctrl::MgmDataProcessed *mgmDataProcessed,
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acsctrl::SusDataProcessed *susDataProcessed, acsctrl::MekfData *mekfData);
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void resetMekf(acsctrl::MekfData *mekfData);
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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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};
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#endif /* ACS_NAVIGATION_H_ */
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