position_estimation.h

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/*******************************************************************************
 * \file position_estimation.h
 * 
 * \author MAV'RIC Team
 *   
 * \brief This file performs the 3D position estimation, either by direct 
 * integration or with correction with the GPS and pos_est->barometer
 *
 ******************************************************************************/


#ifndef POSITION_ESTIMATION_H__
#define POSITION_ESTIMATION_H__

#ifdef __cplusplus
extern "C" {
#endif

#include <stdbool.h>
#include "imu.h"
#include "ahrs.h"
#include "bmp085.h"
#include "gps_ublox.h"
#include "coord_conventions.h"
#include "state.h"
#include "tasks.h"
#include "constants.h"


// leaky velocity integration as a simple trick to emulate drag and avoid too large deviations (loss per 1 second)
#define VEL_DECAY 0.0f
#define POS_DECAY 0.0f


typedef struct
{
    global_position_t origin;   
    float gravity;              
} position_estimation_conf_t;


typedef struct
{
    float kp_vel_gps[3];                            
    float kp_pos_gps[3];                            
    float kp_alt_baro;                              
    float kp_vel_baro;                              

    uint32_t time_last_gps_msg;                     
    uint32_t time_last_barometer_msg;               
    bool init_gps_position;                         
    bool init_barometer;                            
    
    float vel_bf[3];                                
    float vel[3];                                   

    float last_alt;                                 
    float last_vel[3];                              

    local_coordinates_t local_position;             
    local_coordinates_t last_gps_pos;               
    
    float gravity;                                  
    
    barometer_t* barometer;                         
    const gps_t* gps;                               
    const ahrs_t* ahrs;                             
    const imu_t* imu;                               
    state_t* state;                                 

    bool* nav_plan_active;                          
} position_estimation_t;


bool position_estimation_init(position_estimation_t* pos_est, const position_estimation_conf_t* config, state_t* state, barometer_t* barometer, const gps_t *gps, const ahrs_t *ahrs, const imu_t *imu);


void position_estimation_reset_home_altitude(position_estimation_t *pos_est);


void position_estimation_update(position_estimation_t *pos_est);


#ifdef __cplusplus
}
#endif

#endif // POSITION_ESTIMATION_H__