qfilter.h

/*******************************************************************************
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/*******************************************************************************
 * \file qfilter.h
 * 
 * \author MAV'RIC Team
 * \author Felix Schill
 *   
 * \brief This file implements a complementary filter for the attitude estimation
 *
 ******************************************************************************/


#ifndef QFILTER_H_
#define QFILTER_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdint.h>
#include "imu.h"
#include "ahrs.h"


typedef enum
{
    OFF,                            
    LEVELING,                       
    LEVEL_PLUS_ACCEL                
} calibration_mode_t;


typedef struct
{
    float   kp;             
    float   ki;             
    float   kp_mag;         
    float   ki_mag;         
} qfilter_conf_t;

typedef struct
{
    imu_t*  imu;            
    ahrs_t* ahrs;           
    
    float   kp;             
    float   ki;             
    float   kp_mag;         
    float   ki_mag;         
} qfilter_t;


bool qfilter_init(qfilter_t* qf, const qfilter_conf_t* config, imu_t* imu, ahrs_t* ahrs);


void qfilter_update(qfilter_t *qf);


#ifdef __cplusplus
}
#endif

#endif /* QFILTER_H_ */