/home/travis/build/lis-epfl/MAVRIC_Library/sensing/ahrs_ekf_mocap.hpp

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/*******************************************************************************
 * \file ahrs_ekf_mocap.hpp
 *
 * \author MAV'RIC Team
 * \author Matthew Douglas
 *
 * \brief Extended Kalman Filter attitude estimation, mixing accelerometer and magnetometer
 * x[0] : bias_x
 * x[1] : bias_y
 * x[2] : bias_z
 * x[3] : q0
 * x[4] : q1
 * x[5] : q2
 * x[6] : q3
 *
 *
 * Takes into account the motion capture ahrs quaternion
 *
 ******************************************************************************/

#ifndef __AHRS_EKF_MOCAP_HPP__
#define __AHRS_EKF_MOCAP_HPP__

#include "sensing/ahrs_ekf.hpp"
#include "util/matrix.hpp"
#include "communication/mavlink_message_handler.hpp"


class Ahrs_ekf_mocap
{
public:

    struct conf_t
    {
        float R_mocap;                                  
    };

    Ahrs_ekf_mocap(Mavlink_message_handler& message_handler, AHRS_ekf& ahrs_ekf, const conf_t config_ = Ahrs_ekf_mocap::default_config());

    bool init();

    static inline conf_t default_config();


protected:

    static void callback(Ahrs_ekf_mocap* ahrs_ekf_mocap, uint32_t sysid, const mavlink_message_t* msg);

    AHRS_ekf& ahrs_ekf_;                        
    Mavlink_message_handler& message_handler_;  
    Mat<4,4> R_mocap_;                          
    Mat<4, 7> H_;                               
    Mat<4, 1> z_;                                
    bool is_init_;                              

    conf_t config_;                                     

    float last_update_us_;                              
};

Ahrs_ekf_mocap::conf_t Ahrs_ekf_mocap::default_config()
{
    Ahrs_ekf_mocap::conf_t conf = {};

    conf.R_mocap = 0.000001f;

    return conf;
};

#endif // __AHRS_EKF_MOCAP_HPP__