ADA.h

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/* Copyright (c) 2018-2022 Skyward Experimental Rocketry
 * Authors: Luca Mozzarelli, Luca Conterio, Alberto Nidasio
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in
 * all copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <algorithms/Kalman/Kalman.h>
#include <algorithms/ReferenceValues.h>
 
#include "ADAData.h"
 
namespace Boardcore
{
 
class ADA
{
public:
    using KalmanFilter = Kalman<float, 3, 1>;
 
    explicit ADA(const KalmanFilter::KalmanConfig kalmanConfig);
 
    void update(const float pressure);
 
    void update();
 
    ADAState getState();
 
    void setReferenceValues(const ReferenceValues reference);
 
    void setKalmanConfig(KalmanFilter::KalmanConfig config);
 
    ReferenceValues getReferenceValues();
 
private:
    void updateState();
 
    ReferenceValues reference;
 
    KalmanFilter filter;
 
    ADAState state;
};
 
}  // namespace Boardcore