NASConfig.h

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/* Copyright (c) 2022 Skyward Experimental Rocketry
 * Author: 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
 * 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 <Eigen/Dense>
 
namespace Boardcore
{
 
struct NASConfig
{
    float T;                    
    float SIGMA_BETA;           
    float SIGMA_W;              
    float SIGMA_ACC;            
    float SIGMA_MAG;            
    Eigen::Vector4f SIGMA_GPS;  
    float SIGMA_BAR;            
    float SIGMA_POS;    
    float SIGMA_VEL;    
    float SIGMA_PITOT;  
 
    float P_POS;           
    float P_POS_VERTICAL;  
 
    float P_VEL;           
    float P_VEL_VERTICAL;  
 
    float P_ATT;   
    float P_BIAS;  
 
    float SATS_NUM = 6.0f;  
 
    Eigen::Vector3f NED_MAG;  
};
 
}  // namespace Boardcore