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

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/*******************************************************************************
 * \file altitude_estimation.hpp
 *
 * \author MAV'RIC Team
 * \author Julien Lecoeur
 *
 * \brief   Altitude estimation
 *
 ******************************************************************************/


#ifndef ALTITUDE_ESTIMATION_HPP_
#define ALTITUDE_ESTIMATION_HPP_


#include "drivers/sonar.hpp"
#include "drivers/barometer.hpp"
#include "sensing/ahrs.hpp"
#include "util/kalman.hpp"

extern "C"
{
#include "sensing/altitude.h"
}


typedef struct
{
} altitude_estimation_conf_t;


static inline altitude_estimation_conf_t altitude_estimation_default_config(void);


class Altitude_estimation: public Kalman<3,1,1>
{
public:
    Altitude_estimation(Sonar& sonar,
                        Barometer& barometer,
                        AHRS& ahrs,
                        altitude_t& altitude,
                        altitude_estimation_conf_t config = altitude_estimation_default_config() );

    bool init(void);


    bool update(void);


private:
    const Sonar&        sonar_;           
    const Barometer&    barometer_;       
    const AHRS&       ahrs_;            
    altitude_t&         altitude_;        

    altitude_estimation_conf_t config_;   

    float last_sonar_update_us_;          
};


static inline altitude_estimation_conf_t altitude_estimation_default_config(void)
{
    altitude_estimation_conf_t conf = {};

    return conf;
}

#endif /* ALTITUDE_ESTIMATION_HPP_ */