1 files changed, 235 insertions, 0 deletions
diff --git a/src/modules/fw_att_pos_estimator/estimator.h b/src/modules/fw_att_pos_estimator/estimator.h
new file mode 100644
index 000000000..c5a5e9d8d
--- /dev/null
+++ b/src/modules/fw_att_pos_estimator/estimator.h
@@ -0,0 +1,235 @@
+#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 6378145.0f
+#define earthRadiusInv  1.5678540e-7f
+
+class Vector3f
+{
+private:
+public:
+    float x;
+    float y;
+    float z;
+
+    float length(void) const;
+    Vector3f zero(void) const;
+};
+
+class Mat3f
+{
+private:
+public:
+    Vector3f x;
+    Vector3f y;
+    Vector3f z;
+
+    Mat3f();
+
+    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);
+Vector3f operator%( Vector3f vecIn1, Vector3f vecIn2);
+Vector3f operator*(Vector3f vecIn1, float sclIn1);
+
+void swap_var(float &d1, float &d2);
+
+const unsigned int n_states = 21;
+const unsigned int data_buffer_size = 50;
+
+extern uint32_t statetimeStamp[data_buffer_size]; // time stamp for each state vector stored
+extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
+extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
+extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
+extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
+extern float accNavMag; // magnitude of navigation accel (- used to adjust GPS obs variance (m/s^2)
+extern Vector3f earthRateNED; // earths angular rate vector in NED (rad/s)
+extern Vector3f angRate; // angular rate vector in XYZ body axes measured by the IMU (rad/s)
+extern Vector3f accel; // acceleration vector in XYZ body axes measured by the IMU (m/s^2)
+extern Vector3f dVelIMU;
+extern Vector3f dAngIMU;
+
+extern float P[n_states][n_states]; // covariance matrix
+extern float Kfusion[n_states]; // Kalman gains
+extern float states[n_states]; // state matrix
+extern float storedStates[n_states][data_buffer_size]; // state vectors stored for the last 50 time steps
+
+extern Vector3f correctedDelAng; // delta angles about the xyz body axes corrected for errors (rad)
+extern Vector3f correctedDelVel; // delta velocities along the XYZ body axes corrected for errors (m/s)
+extern Vector3f summedDelAng; // summed delta angles about the xyz body axes corrected for errors (rad)
+extern Vector3f summedDelVel; // summed delta velocities along the XYZ body axes corrected for errors (m/s)
+
+extern float dtIMU; // time lapsed since the last IMU measurement or covariance update (sec)
+
+extern bool onGround; // boolean true when the flight vehicle is on the ground (not flying)
+extern bool useAirspeed; // boolean true if airspeed data is being used
+extern bool useCompass; // boolean true if magnetometer data is being used
+extern uint8_t fusionModeGPS ; // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
+extern float innovVelPos[6]; // innovation output
+extern float varInnovVelPos[6]; // innovation variance output
+
+extern bool fuseVelData; // this boolean causes the posNE and velNED obs to be fused
+extern bool fusePosData; // this boolean causes the posNE and velNED obs to be fused
+extern bool fuseHgtData; // this boolean causes the hgtMea obs to be fused
+extern bool fuseMagData; // boolean true when magnetometer data is to be fused
+
+extern float velNED[3]; // North, East, Down velocity obs (m/s)
+extern float posNE[2]; // North, East position obs (m)
+extern float hgtMea; //  measured height (m)
+extern float posNED[3]; // North, East Down position (m)
+
+extern float statesAtVelTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+extern float statesAtPosTime[n_states]; // States at the effective measurement time for posNE and velNED measurements
+extern float statesAtHgtTime[n_states]; // States at the effective measurement time for the hgtMea measurement
+
+extern float innovMag[3]; // innovation output
+extern float varInnovMag[3]; // innovation variance output
+extern Vector3f magData; // magnetometer flux radings in X,Y,Z body axes
+extern float statesAtMagMeasTime[n_states]; // filter satates at the effective measurement time
+extern float innovVtas; // innovation output
+extern float varInnovVtas; // innovation variance output
+extern bool fuseVtasData; // boolean true when airspeed data is to be fused
+extern float VtasMeas; // true airspeed measurement (m/s)
+extern float statesAtVtasMeasTime[n_states]; // filter states at the effective measurement time
+extern float latRef; // WGS-84 latitude of reference point (rad)
+extern float lonRef; // WGS-84 longitude of reference point (rad)
+extern float hgtRef; // WGS-84 height of reference point (m)
+extern Vector3f magBias; // states representing magnetometer bias vector in XYZ body axes
+extern uint8_t covSkipCount; // Number of state prediction frames (IMU daya updates to skip before doing the covariance prediction
+extern float EAS2TAS; // ratio f true to equivalent airspeed
+
+// GPS input data variables
+extern float gpsCourse;
+extern float gpsVelD;
+extern float gpsLat;
+extern float gpsLon;
+extern float gpsHgt;
+extern uint8_t GPSstatus;
+
+// Baro input
+extern float baroHgt;
+
+extern bool statesInitialised;
+extern bool numericalProtection;
+
+const float covTimeStepMax = 0.07f; // maximum time allowed between covariance predictions
+const float covDelAngMax = 0.02f; // maximum delta angle between covariance predictions
+
+extern bool staticMode;
+
+enum GPS_FIX {
+    GPS_FIX_NOFIX = 0,
+    GPS_FIX_2D = 2,
+    GPS_FIX_3D = 3
+};
+
+struct ekf_status_report {
+    bool velHealth;
+    bool posHealth;
+    bool hgtHealth;
+    bool velTimeout;
+    bool posTimeout;
+    bool hgtTimeout;
+    uint32_t velFailTime;
+    uint32_t posFailTime;
+    uint32_t hgtFailTime;
+    float states[n_states];
+    bool statesNaN;
+    bool covarianceNaN;
+    bool kalmanGainsNaN;
+};
+
+void  UpdateStrapdownEquationsNED();
+
+void CovariancePrediction(float dt);
+
+void FuseVelposNED();
+
+void FuseMagnetometer();
+
+void FuseAirspeed();
+
+void zeroRows(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+void zeroCols(float (&covMat)[n_states][n_states], uint8_t first, uint8_t last);
+
+float sq(float valIn);
+
+void quatNorm(float (&quatOut)[4], const float quatIn[4]);
+
+// store staes along with system time stamp in msces
+void StoreStates(uint64_t timestamp_ms);
+
+/**
+ * Recall the state vector.
+ *
+ * Recalls the vector stored at closest time to the one specified by msec
+ *
+ * @return zero on success, integer indicating the number of invalid states on failure.
+ *         Does only copy valid states, if the statesForFusion vector was initialized
+ *         correctly by the caller, the result can be safely used, but is a mixture
+ *         time-wise where valid states were updated and invalid remained at the old
+ *         value.
+ */
+int RecallStates(float statesForFusion[n_states], uint64_t msec);
+
+void ResetStoredStates();
+
+void quat2Tbn(Mat3f &Tbn, const float (&quat)[4]);
+
+void calcEarthRateNED(Vector3f &omega, float latitude);
+
+void eul2quat(float (&quat)[4], const float (&eul)[3]);
+
+void quat2eul(float (&eul)[3], const float (&quat)[4]);
+
+void calcvelNED(float (&velNED)[3], float gpsCourse, float gpsGndSpd, float gpsVelD);
+
+void calcposNED(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+
+void calcLLH(float (&posNED)[3], float lat, float lon, float hgt, float latRef, float lonRef, float hgtRef);
+
+void OnGroundCheck();
+
+void CovarianceInit();
+
+void InitialiseFilter(float (&initvelNED)[3]);
+
+float ConstrainFloat(float val, float min, float max);
+
+void ConstrainVariances();
+
+void ConstrainStates();
+
+void ForceSymmetry();
+
+int CheckAndBound();
+
+void ResetPosition();
+
+void ResetVelocity();
+
+void ZeroVariables();
+
+void GetFilterState(struct ekf_status_report *state);
+
+void GetLastErrorState(struct ekf_status_report *last_error);
+
+bool StatesNaN(struct ekf_status_report *err_report);
+void FillErrorReport(struct ekf_status_report *err);
+
+void InitializeDynamic(float (&initvelNED)[3]);
+
+uint32_t millis();
+