1 files changed, 89 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/estimator_utilities.h b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
new file mode 100644
index 000000000..6d1f47b68
--- /dev/null
+++ b/src/modules/ekf_att_pos_estimator/estimator_utilities.h
@@ -0,0 +1,89 @@
+#include <math.h>
+#include <stdint.h>
+
+#pragma once
+
+#define GRAVITY_MSS 9.80665f
+#define deg2rad 0.017453292f
+#define rad2deg 57.295780f
+#define pi 3.141592657f
+#define earthRate 0.000072921f
+#define earthRadius 6378145.0
+#define earthRadiusInv  1.5678540e-7
+
+class Vector3f
+{
+private:
+public:
+    float x;
+    float y;
+    float z;
+
+    Vector3f(float a=0.0f, float b=0.0f, float c=0.0f) :
+    x(a),
+    y(b),
+    z(c)
+    {}
+
+    float length(void) const;
+    void zero(void);
+};
+
+class Mat3f
+{
+private:
+public:
+    Vector3f x;
+    Vector3f y;
+    Vector3f z;
+
+    Mat3f();
+
+    void identity();
+    Mat3f transpose(void) const;
+};
+
+Vector3f operator*(float sclIn1, Vector3f vecIn1);
+Vector3f operator+( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator-( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*( Mat3f matIn, Vector3f vecIn);
+Mat3f operator*( Mat3f matIn1, Mat3f matIn2);
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*(Vector3f vecIn1, float sclIn1);
+
+void swap_var(float &d1, float &d2);
+
+enum GPS_FIX {
+    GPS_FIX_NOFIX = 0,
+    GPS_FIX_2D = 2,
+    GPS_FIX_3D = 3
+};
+
+struct ekf_status_report {
+    bool error;
+    bool velHealth;
+    bool posHealth;
+    bool hgtHealth;
+    bool velTimeout;
+    bool posTimeout;
+    bool hgtTimeout;
+    bool imuTimeout;
+    uint32_t velFailTime;
+    uint32_t posFailTime;
+    uint32_t hgtFailTime;
+    float states[32];
+    unsigned n_states;
+    bool angNaN;
+    bool summedDelVelNaN;
+    bool KHNaN;
+    bool KHPNaN;
+    bool PNaN;
+    bool covarianceNaN;
+    bool kalmanGainsNaN;
+    bool statesNaN;
+    bool gyroOffsetsExcessive;
+    bool covariancesExcessive;
+    bool velOffsetExcessive;
+};
+
+void ekf_debug(const char *fmt, ...);