NAS.h

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/* Copyright (c) 2020-2022 Skyward Experimental Rocketry
 * Authors: Alessandro Del Duca, Luca Conterio, Marco Cella
 *
 * 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
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 * THE SOFTWARE.
 */
 
#pragma once
 
#include <algorithms/ReferenceValues.h>
#include <sensors/SensorData.h>
#include <utils/AeroUtils/AeroUtils.h>
#include <utils/Constants.h>
 
#include <Eigen/Dense>
 
#include "NASConfig.h"
#include "NASState.h"
 
namespace Boardcore
{
 
class NAS
{
public:
    static constexpr uint16_t IDX_POS = 0;
 
    static constexpr uint16_t IDX_VEL = 3;
 
    static constexpr uint16_t IDX_QUAT = 6;
 
    static constexpr uint16_t IDX_BIAS = 10;
 
    explicit NAS(NASConfig config);
 
    void predictAcc(const Eigen::Vector3f& acceleration);
 
    void predictAcc(const AccelerometerData& acceleration);
 
    void predictGyro(const Eigen::Vector3f& angularSpeed);
 
    void predictGyro(const GyroscopeData& angularSpeed);
 
    void correctBaro(const float pressure);
 
    void correctGPS(const Eigen::Vector4f& gps);
 
    void correctGPS(const GPSData& gps);
 
    void correctMag(const Eigen::Vector3f& mag);
 
    void correctMag(const MagnetometerData& mag);
 
    void correctAcc(const Eigen::Vector3f& acc);
 
    void correctAcc(const AccelerometerData& acc);
 
    void correctPitot(const float staticPressure, const float dynamicPressure);
 
    NASState getState() const;
 
    Eigen::Matrix<float, 13, 1> getX() const;
 
    void setState(const NASState& state);
 
    void setX(const Eigen::Matrix<float, 13, 1>& x);
 
    void setReferenceValues(const ReferenceValues reference);
 
    ReferenceValues getReferenceValues();
 
private:
    NASConfig config;
 
    ReferenceValues reference;
 
    Eigen::Matrix<float, 13, 1> x;
 
    Eigen::Matrix<float, 12, 12> P;
 
    const Eigen::Vector3f gravityNed{0.0f, 0.0f, -Constants::g};
 
    // Utility matrixes used for the gps
    Eigen::Matrix<float, 4, 6> H_gps;
    Eigen::Matrix<float, 6, 4> H_gps_tr;
    Eigen::Matrix<float, 4, 4> R_gps;
 
    // Utility matrixes
    Eigen::Matrix3f R_acc;
    Eigen::Matrix3f R_mag;
    Eigen::Matrix<float, 6, 6> Q_quat;
    Eigen::Matrix<float, 6, 6> Q_lin;
    Eigen::Matrix<float, 6, 6> F_lin;
    Eigen::Matrix<float, 6, 6> F_lin_tr;
    Eigen::Matrix<float, 6, 6> F_quat;
    Eigen::Matrix<float, 6, 6> F_quat_tr;
    Eigen::Matrix<float, 6, 6> G_quat;
    Eigen::Matrix<float, 6, 6> G_quat_tr;
};
 
}  // namespace Boardcore