Where to begin…. (#13)

+/- Reworked collection of altimeter related functions into altimeter class
+/- Reworked bno055 class to be imu class with minimal functionality

\- Removed external Kalman filter implementations in favor of own in house version
\- Removed any/unused files
\+ Added buffer logger for when sitting on pad for extended period of time in effort to prevent filling of flash chip
\+ Added heartbeat LED for alive status

10 files changed, 0 insertions, 986 deletions

diff --git a/include/unused/actuationPlan.hpp b/include/unused/actuationPlan.hpp
deleted file mode 100644
index 8d1ef26..0000000
--- a/include/unused/actuationPlan.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-#include <algorithm>
-#include <ctime>
-#include "surfaceFitModel.hpp"
-#include "rocketUtils.hpp"
-#include "sensorIMU.hpp"
-#include "sensorAltimeter.hpp"
-
-class ActuationPlan {
-
-    private:
-        SurfaceFitModel sFitModel;
-        
-    public:
-
-        /**
-         * @brief Construct a new Actuation Plan object
-         * 
-         */
-        ActuationPlan();
-
-        /**
-         * @brief Construct a new Actuation Plan object
-         * 
-         * @param sFitModel 
-         */
-        ActuationPlan(SurfaceFitModel sFitModel);
-
-        /**
-         * @brief Run the Fin Actuation Plan.
-         *  Adjusts the fin angle values depending on the current vehicle state during the launch
-         * 
-         * @param rocket Provides current rocket status and hold updated fin angle value.
-         */
-        void runPlan(Vehicle& rocket);
-};
\ No newline at end of file
diff --git a/include/unused/actuator.hpp b/include/unused/actuator.hpp
deleted file mode 100644
index e7c4120..0000000
--- a/include/unused/actuator.hpp
+++ /dev/null
@@ -1,30 +0,0 @@
-#pragma once
-
-
-class Actuator {
-
-    private:
-
-
-    public:
-
-        /**
-         * @brief Initialize the actuator. 
-         * 
-         * @param data Data for initializing the actuator
-         * 
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        virtual bool init(void* data) = 0;
-
-        /**
-         * @brief Pass data to the actuator. 
-         * 
-         * @param data Data to sent to the actuator
-         * 
-         * @return true Actuator write Success
-         * @return false Actuator write Failure
-         */
-        virtual bool writeData(void* data) = 0;
-};
\ No newline at end of file
diff --git a/include/unused/ads.hpp b/include/unused/ads.hpp
deleted file mode 100644
index b16c4fb..0000000
--- a/include/unused/ads.hpp
+++ /dev/null
@@ -1,66 +0,0 @@
-#pragma once
-#include <iostream>
-#include <exception>
-#include <stdexcept>
-#include <chrono>
-#include <thread>
-#include "kalmanfilter.hpp"
-#include "logger.hpp"
-#include "actuationPlan.hpp"
-#include "rocketUtils.hpp"
-#include "sensorIMU.hpp"
-#include "sensorAltimeter.hpp"
-#include "motor.hpp"
-#include "eigen3/Eigen/Dense"
-
-using namespace Eigen;
-
-class ADS {
-
-    private:
-
-        KalmanFilter kf;      
-        ActuationPlan plan;
-
-        IMUSensor imu;
-        AltimeterSensor altimeter;
-        Motor motor;
-        Vehicle rocket;
-
-        /**
-         * @brief Logs a summary of all pertinent current rocket data
-         *  (e.g. Altitude, Velocity, Acceleration)
-         */
-        virtual void logSummary();
-        
-        /**
-         * @brief Performs a routine to calculate the average altitude
-         *      while the vehicle is waiting on the pad.
-         */
-        virtual void updateOnPadAltitude();
-
-        /**
-         * @brief Update the vehicle with the current sensor (IMU & Altimeter) readings
-         */
-        virtual void updateSensorData();
-
-        /**
-         * @brief Update the rocket state based on its current telemetry readings.
-         *     Also Log pertinent telemetry and rocket state data
-         */
-        virtual void updateRocketState();
-
-    public:
-
-        /**
-         * @brief Construct a new ADS object
-         * 
-         * @param plan The Actuation Plan for the Rocket
-         */
-        ADS(ActuationPlan plan);
-
-        /**
-         * @brief Run the full active drag system from launch to landing.
-         */
-        virtual void run();
-};
\ No newline at end of file
diff --git a/include/unused/logger.hpp b/include/unused/logger.hpp
deleted file mode 100644
index 90fa05a..0000000
--- a/include/unused/logger.hpp
+++ /dev/null
@@ -1,83 +0,0 @@
-#pragma once
-#include <iostream>
-#include <fstream>
-#include <ctime>
-
-class Logger {
-
-    private:
-        std::fstream file;
-        std::string filename;
-        time_t t;
-        tm* now;
-        bool file_open;
-
-        std::string infoTag = "-> [INFO]: ";
-        std::string errorTag = "-> [ERROR]: ";
-        std::string months[12] = {"Jan", "Feb", "Mar", "Apr", "May", "Jun", "Jul", "Aug", "Sept", "Oct", "Nov", "Dec"};
-        std::string days[7] = {"Sun", "Mon", "Tues", "Wed", "Thur", "Frid", "Sat"};
-
-        /**
-         * @brief Create formatted current-date tag 
-         * 
-         * @return string 
-         */
-        std::string getDate();
-
-        /**
-         * @brief Create formatted current-time tag 
-         * 
-         * @return string 
-         */
-        std::string getTime();
-    
-
-    public:
-        
-        /**
-         * @brief 
-         * 
-         */
-        static Logger& Get();
-
-        /**
-         * @brief Open a Log File for writing
-         * 
-         * @param _filename Name of file to open
-         * @return true Successful Open
-         * @return false Unsuccessful Open
-         */
-        bool openLog(std::string _filename);
-
-        /**
-         * @brief Close the Log File
-         * 
-         */
-        void closeLog();
-
-        /**
-         * @brief Write data to Log file
-         * 
-         * @param data Data to log
-         * @return true Data Successfully Logged
-         * @return false Data Logging Unsuccessful
-         */
-        bool log(std::string data);
-
-        /**
-         * @brief Write error data to Log file
-         * 
-         * @param data Error Data to log
-         * @return true Data Successfully Logged
-         * @return false Data Logging Unsuccessful
-         */
-        bool logErr(std::string data);
-
-        /**
-         * @brief Print Log Data to Terminal
-         * 
-         * @return true Successful Print
-         * @return false Unsuccessful Print
-         */
-        bool printLog();
-};
\ No newline at end of file
diff --git a/include/unused/motor.hpp b/include/unused/motor.hpp
deleted file mode 100644
index cb95b6a..0000000
--- a/include/unused/motor.hpp
+++ /dev/null
@@ -1,36 +0,0 @@
-#pragma once
-#include "actuator.hpp"
-#include "logger.hpp"
-#include "rocketUtils.hpp"
-
-class Motor : public Actuator {
-
-    private:
-
-
-    public:
-
-        /**
-         * @brief Construct a new Motor object
-         * 
-         */
-        Motor();
-
-        /**
-         * @brief Initialize the motor. 
-         * 
-         * @param data Data for initializing the motor
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        virtual bool init(void* data) override;
-
-        /**
-         * @brief Write data to the motor.
-         * 
-         * @param data Data to be writen to the motor
-         * @return true Motor write Success
-         * @return false Motor write Failure
-         */
-        virtual bool writeData(void* data) override;
-};
\ No newline at end of file
diff --git a/include/unused/rocketUtils.hpp b/include/unused/rocketUtils.hpp
deleted file mode 100644
index 65b9cea..0000000
--- a/include/unused/rocketUtils.hpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#pragma once
-#include <iostream>
-#include <vector>
-#include <ctime>
-#include <vector>
-#include <iomanip>
-#include <sstream>
-#include <fstream>
-
-// Deployment angle limits
-#define MAX_ANGLE 100
-#define MIN_ANGLE 120
-
-// Altimeter initialization count limit
-#define COUNT_LIMIT 50
-
-// Constants
-#define G_0 9.8066
-
-// Threshold limits
-#define BOOST_ACCEL_THRESH 3
-#define BOOST_HEIGHT_THRESH 20
-#define GLIDE_ACCEL_THRESH 0.5
-
-#define ALTI_DEPL_THRESHOLD 0.5
-#define RATE_ALTI_DEPL 1/50
-#define FSM_DONE_SURFACE_ALTITUDE 200
-#define APOGEE_FSM_CHANGE 3
-
-#define INIT_DEPLOYMENT 0 
-
-#define TIME_BO 8
-#define TIME_APO 25
-#define TIME_END 120
-
-#define PAD_PRESSURE 102250
-
-#define DUTY_MAX 14.5
-#define DUTY_MIN 3
-
-#define LAUNCH_DATE "4-15-2023"
-#define LOG_FILENAME "DataLog_" LAUNCH_DATE ".txt"
-
-#define LED_GAP_TIME 0.5
-#define LED_ONE_PATH "/sys/class/leds/beaglebone:green:usr1"
-#define LED_BRIGHTNESS_FILE "brightness"
-#define LED_FILENAME LED_ONE_PATH LED_BRIGHTNESS_FILE
-
-#define TEST_MODE false
-
-
-enum VehicleState {ON_PAD, BOOST, GLIDE, APOGEE, DONE};
-extern std::string state_for_log[5];
-
-struct Vehicle {
-
-	int status;
-
-	std::vector<double> acceleration; 
-    std::vector<double> linear_acceleration;
-
-    double apogee_altitude;
-	double previous_altitude;
-	double current_altitude;
-	double filtered_altitude;
-
-	double filtered_velocity;
-
-	double deployment_angle;
-
-	bool imuInitFail;
-	bool imuReadFail;
-	bool altiInitFail;
-	bool altiReadFail;
-
-	double ON_PAD_altitude;
-	bool ON_PAD_fail;
-
-	double duty_span;
-
-	double dt;
-
-	int led_brightness;
-
-	time_t start_time;
-	time_t fail_time; // For failure termination
-	time_t liftoff_time;
-	time_t relog_time;
-	time_t deploy_time; // NOT INITIALIZED YET
-	time_t loop_time;
-	time_t led_time;
-};
-
-/**
- * @brief Convert fin deployment percentage to fin rotation angle
- * 
- * @param percentage Fin deployment percentage
- * @return double 
- */
-double deploy_percentage_to_angle(double percentage);
-
-/**
- * @brief Set the decimal precision of the given data, and return it 
- * 		as a formatted string with a prefix containing a relevant description of the data. 
- * 
- * @param prefix Identifying or clarifying information about the loggef data
- * @param data Data to Log
- * @param precision The decimal precision value for the data
- * 
- * @return A string with the formatted data.
- */
-std::string format_data(std::string prefix, double data, int precision);
-
-/**
- * @brief Blink Beaglebone LED 1
- * 
- * @param vehicle Holds settings pertinent to the Beaglebone LED
- * @return true Successful Blink
- * @return false Unsuccessful Blink
- */
-bool led_out(Vehicle *vehicle);
diff --git a/include/unused/sensorAltimeter.hpp b/include/unused/sensorAltimeter.hpp
deleted file mode 100644
index aa3a3cd..0000000
--- a/include/unused/sensorAltimeter.hpp
+++ /dev/null
@@ -1,165 +0,0 @@
-#pragma once
-#include "sensorI2C.hpp"
-#include <string>
-
-/*
-Header file for driver for MPL3115a2 breakout, based heavily on https://github.com/adafruit/Adafruit_MPL3115A2_Library/tree/master
-Based on register declarations found https://cdn-shop.adafruit.com/datasheets/1893_datasheet.pdf
-Designed using subclass for I2C handler for Beaglebone Black
-*/
-
-class AltimeterSensor : public sensorI2C {
-
-
-    private:
-        double internalTemperature = 0;
-        double internalAltitude = 0;
-        
-        //ENUMS COPIED DIRECTLY FROM ADAFRUIT IMPLEMENTATION
-        /** MPL3115A2 registers **/
-        enum {
-            MPL3115A2_REGISTER_STATUS = (0x00),
-
-            MPL3115A2_REGISTER_PRESSURE_MSB = (0x01),
-            MPL3115A2_REGISTER_PRESSURE_CSB = (0x02),
-            MPL3115A2_REGISTER_PRESSURE_LSB = (0x03),
-
-            MPL3115A2_REGISTER_TEMP_MSB = (0x04),
-            MPL3115A2_REGISTER_TEMP_LSB = (0x05),
-
-            MPL3115A2_REGISTER_DR_STATUS = (0x06),
-
-            MPL3115A2_OUT_P_DELTA_MSB = (0x07),
-            MPL3115A2_OUT_P_DELTA_CSB = (0x08),
-            MPL3115A2_OUT_P_DELTA_LSB = (0x09),
-
-            MPL3115A2_OUT_T_DELTA_MSB = (0x0A),
-            MPL3115A2_OUT_T_DELTA_LSB = (0x0B),
-
-            MPL3115A2_WHOAMI = (0x0C),
-            //This is hard-coded in the device from the factory
-            MPL3115A2_WHOAMI_EXPECTED = (0xC4),
-
-            MPL3115A2_BAR_IN_MSB = (0x14),
-            MPL3115A2_BAR_IN_LSB = (0x15),
-
-            MPL3115A2_OFF_H = (0x2D),
-        };
-
-        /** MPL3115A2 status register BITS **/
-        enum {
-            MPL3115A2_REGISTER_STATUS_TDR = 0x02,
-            MPL3115A2_REGISTER_STATUS_PDR = 0x04,
-            MPL3115A2_REGISTER_STATUS_PTDR = 0x08,
-        };
-
-        /** MPL3115A2 PT DATA register BITS **/
-        enum {
-            MPL3115A2_PT_DATA_CFG = 0x13,
-            MPL3115A2_PT_DATA_CFG_TDEFE = 0x01,
-            MPL3115A2_PT_DATA_CFG_PDEFE = 0x02,
-            MPL3115A2_PT_DATA_CFG_DREM = 0x04,
-        };
-
-        /** MPL3115A2 control registers **/
-        enum {
-            MPL3115A2_CTRL_REG1 = (0x26),
-            MPL3115A2_CTRL_REG2 = (0x27),
-            MPL3115A2_CTRL_REG3 = (0x28),
-            MPL3115A2_CTRL_REG4 = (0x29),
-            MPL3115A2_CTRL_REG5 = (0x2A),
-        };
-
-        /** MPL3115A2 control register BITS **/
-        enum {
-            MPL3115A2_CTRL_REG1_SBYB = 0x01,
-            MPL3115A2_CTRL_REG1_OST = 0x02,
-            MPL3115A2_CTRL_REG1_RST = 0x04,
-            MPL3115A2_CTRL_REG1_RAW = 0x40,
-            MPL3115A2_CTRL_REG1_ALT = 0x80,
-            MPL3115A2_CTRL_REG1_BAR = 0x00,
-        };
-
-        /** MPL3115A2 oversample values **/
-        enum {
-            MPL3115A2_CTRL_REG1_OS1 = 0x00,
-            MPL3115A2_CTRL_REG1_OS2 = 0x08,
-            MPL3115A2_CTRL_REG1_OS4 = 0x10,
-            MPL3115A2_CTRL_REG1_OS8 = 0x18,
-            MPL3115A2_CTRL_REG1_OS16 = 0x20,
-            MPL3115A2_CTRL_REG1_OS32 = 0x28,
-            MPL3115A2_CTRL_REG1_OS64 = 0x30,
-            MPL3115A2_CTRL_REG1_OS128 = 0x38,
-        };
-
-        /** MPL3115A2 measurement modes **/
-        typedef enum {
-            MPL3115A2_BAROMETER = 0,
-            MPL3115A2_ALTIMETER,
-        } mpl3115a2_mode_t;
-
-        /** MPL3115A2 measurement types **/
-        typedef enum {
-            MPL3115A2_PRESSURE,
-            MPL3115A2_ALTITUDE,
-            MPL3115A2_TEMPERATURE,
-        } mpl3115a2_meas_t;
-
-        //This never actually gets used, and I can't find anything in the datasheet about it??
-        #define MPL3115A2_REGISTER_STARTCONVERSION (0x12) ///< start conversion
-
-        //Store current operating mode, sent to device during startup procedure
-        //This is why an enum is used rather than raw #define statements
-        mpl3115a2_mode_t currentMode;
-
-        //Struct for storing ctrl register contents, copied from adafruit implementation
-        typedef union {
-            struct {
-                uint8_t SBYB : 1;
-                uint8_t OST : 1;
-                uint8_t RST : 1;
-                uint8_t OS : 3;
-                uint8_t RAW : 1;
-                uint8_t ALT : 1;
-            } bit;
-            uint8_t reg;
-        } CTRL_REG_1_STRUCT;
-        //Create instance of this register config to use during device startup and operation
-        CTRL_REG_1_STRUCT ctrl_reg1;
-
-    public:
-
-        /**
-         * @brief Construct a new Altimeter Sensor object
-         * 
-         */
-        AltimeterSensor(std::string I2C_FILE);
-
-        /**
-         * @brief Initialize the Altimeter
-         * 
-         * @param data Data for initializing the sensor
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        bool init() override;
-
-        //Data getters and setters
-        // double getPressure();
-        double getAltitude();
-        double getTemperature();
-        double setSeaLevelPressure(double pressure);
-
-        //Data and mode handlers
-        //Use altimeter mode by default as this is what rocket logger wants
-        void setMode(mpl3115a2_mode_t mode = MPL3115A2_ALTIMETER);
-        void requestOneShotReading();
-        bool isNewDataAvailable();
-        void updateCurrentDataBuffer();
-
-
-};
-
-
-
-
diff --git a/include/unused/sensorI2C.hpp b/include/unused/sensorI2C.hpp
deleted file mode 100644
index bd497a5..0000000
--- a/include/unused/sensorI2C.hpp
+++ /dev/null
@@ -1,105 +0,0 @@
-#pragma once
-
-#include <stdio.h>
-#include <fcntl.h>
-#include <unistd.h>
-#include <sys/ioctl.h>
-#include <linux/i2c.h>
-#include <linux/i2c-dev.h>
-#include <cstdint>
-#include <string>
-
-class sensorI2C {
-    
-
-    //Predominantly used for I2C handler functions; implement high-level functions in sensor classes
-    //Implemented as a combination of Jazz' implementation and Derek Malloy's code
-    public:
-        
-        //Initial single byte write, used at beginning of read operation
-        //Returns 0 if successful, -1 if not
-        int initialWrite(unsigned char registerAddress) {
-            unsigned char *convertedAddressBuffer = new unsigned char[1];
-            convertedAddressBuffer[0] = registerAddress;
-            //Expect 1 byte response from 1 byte write
-            if (write(i2c_bus, convertedAddressBuffer, 1) != 1) {
-                fprintf(stderr, "ERROR DOING INITIAL READ TRANSACTION WRITE TO REGISTER %x FOR DEVICE %x\n", registerAddress, deviceAddress);
-                return 0;
-            }
-            return 1;
-        }
-
-        int writeRegister(unsigned char registerAddress, unsigned char value) {
-            //initialWrite() not used here because it's easier to just pack it into one buffer for file writing
-            unsigned char writeBuffer[2];
-            writeBuffer[0] = registerAddress;
-            writeBuffer[1] = value;
-
-            //Expect 2 byte output
-            if (write(i2c_bus, writeBuffer, 2) != 2) {
-                //These error messages are kind of obtuse but I'd rather have too much information than not enough
-                fprintf(stderr, "ERROR WRITING %x TO REGISTER %x ON DEVICE %x\n", value, registerAddress, deviceAddress);
-                return -1;
-            }
-            return 0;
-        }
-
-        //Could probably be uint8_t but Derek Malloy does it with unsigned chars and that's what worked during testing so I don't want to touch it
-        unsigned char readSingleRegister(unsigned char registerAddress) {
-            printf("reg addr: %X\n", registerAddress);
-
-            initialWrite(registerAddress);
-            unsigned char* readBuffer = new unsigned char[1];
-            if (read(i2c_bus, readBuffer, 1) != 1){
-                fprintf(stderr, "FAILED TO READ VALUE FROM REGISTER %x ON DEVICE %x\n", registerAddress, deviceAddress);
-                return -1;
-            }
-            printf("readBuffer: %X\n", readBuffer[0]);
-            return readBuffer[0];
-        }
-
-        unsigned char* readMultipleRegisters(unsigned char startingRegisterAddress, int numberOfRegisters) {            
-            initialWrite(startingRegisterAddress);
-            unsigned char* readBuffer = new unsigned char[numberOfRegisters];
-            if (read(i2c_bus, readBuffer, numberOfRegisters) != numberOfRegisters) {
-                fprintf(stderr, "ERROR TRYING TO READ %d REGISTERS STARTING AT ADDRESS %x ON DEVICE %x\n", 
-                    numberOfRegisters, startingRegisterAddress, deviceAddress);
-            }
-            return readBuffer;
-        }
-
-
-        //Intakes device address and file 
-        //Private because IT'S ASSUMED PROGRAMMER WILL CALL THIS METHOD DURING INIT() ROUTINE
-        int setupI2C(std::string I2C_FILE) {
-            // Open i2c driver file
-            i2c_bus = open("/dev/i2c-2", O_RDWR);
-            if(i2c_bus < 0){
-                fprintf(stderr, "FAILED TO OPEN I2C BUS USING FILE %s\n", "/dev/i2c-2");
-                close(i2c_bus);
-                return -1;
-            }
-
-            // Identify slave device address (MODIFIED FROM INITIAL IMPLEMENTATION, USES INTERNAL deviceAddress INSTEAD OF PARAMETER)
-            if(ioctl(i2c_bus, I2C_SLAVE, deviceAddress) < 0){
-                fprintf(stderr, "FAILED TO CONNECT TO DEVICE AT ADDRESS %x VIA I2C\n", deviceAddress);
-                close(i2c_bus);
-                return -1;
-            }
-            return 0;
-        }
-
-        /**
-         * @brief Initialize the sensor. 
-         * 
-         * @param data Data for initializing the sensor
-         * 
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        virtual bool init() = 0;
-
-        unsigned char deviceAddress;
-        int i2c_bus;
-        std::string I2C_FILE;
-};
diff --git a/include/unused/sensorIMU.hpp b/include/unused/sensorIMU.hpp
deleted file mode 100644
index caddbe4..0000000
--- a/include/unused/sensorIMU.hpp
+++ /dev/null
@@ -1,312 +0,0 @@
-#pragma once
-#include <vector>
-#include "sensorI2C.hpp"
-#include "logger.hpp"
-#include "rocketUtils.hpp"
-#include "imumath.h"
-#include <string>
-
-struct IMUData {
-    std::vector<double> acceleration[3];
-    std::vector<double> linear_acceleration[3];
-};
-
-//Register addresses and data structs copied from Adafruit implementation
-/** BNO055 Address A **/
-#define BNO055_ADDRESS_A (0x28)
-/** BNO055 Address B **/
-#define BNO055_ADDRESS_B (0x29)
-/** BNO055 ID **/
-#define BNO055_ID (0xA0)
-
-/** Offsets registers **/
-#define NUM_BNO055_OFFSET_REGISTERS (22)
-
-/** A structure to represent offsets **/
-typedef struct {
-    int16_t accel_offset_x; /**< x acceleration offset */
-    int16_t accel_offset_y; /**< y acceleration offset */
-    int16_t accel_offset_z; /**< z acceleration offset */
-
-    int16_t mag_offset_x; /**< x magnetometer offset */
-    int16_t mag_offset_y; /**< y magnetometer offset */
-    int16_t mag_offset_z; /**< z magnetometer offset */
-
-    int16_t gyro_offset_x; /**< x gyroscrope offset */
-    int16_t gyro_offset_y; /**< y gyroscrope offset */
-    int16_t gyro_offset_z; /**< z gyroscrope offset */
-
-    int16_t accel_radius; /**< acceleration radius */
-
-    int16_t mag_radius; /**< magnetometer radius */
-} adafruit_bno055_offsets_t;
-
-/** Operation mode settings **/
-typedef enum {
-    OPERATION_MODE_CONFIG = 0X00,
-    OPERATION_MODE_ACCONLY = 0X01,
-    OPERATION_MODE_MAGONLY = 0X02,
-    OPERATION_MODE_GYRONLY = 0X03,
-    OPERATION_MODE_ACCMAG = 0X04,
-    OPERATION_MODE_ACCGYRO = 0X05,
-    OPERATION_MODE_MAGGYRO = 0X06,
-    OPERATION_MODE_AMG = 0X07,
-    OPERATION_MODE_IMUPLUS = 0X08,
-    OPERATION_MODE_COMPASS = 0X09,
-    OPERATION_MODE_M4G = 0X0A,
-    OPERATION_MODE_NDOF_FMC_OFF = 0X0B,
-    OPERATION_MODE_NDOF = 0X0C
-} adafruit_bno055_opmode_t;
-class IMUSensor : public sensorI2C {
-
-    private:
-        deviceAddress = BNO055_ADDRESS_A;
-
-        adafruit_bno055_opmode_t default_mode = OPERATION_MODE_NDOF;
-        /** BNO055 Registers **/
-        typedef enum {
-            /* Page id register definition */
-            BNO055_PAGE_ID_ADDR = 0X07,
-
-            /* PAGE0 REGISTER DEFINITION START*/
-            BNO055_CHIP_ID_ADDR = 0x00,
-            BNO055_ACCEL_REV_ID_ADDR = 0x01,
-            BNO055_MAG_REV_ID_ADDR = 0x02,
-            BNO055_GYRO_REV_ID_ADDR = 0x03,
-            BNO055_SW_REV_ID_LSB_ADDR = 0x04,
-            BNO055_SW_REV_ID_MSB_ADDR = 0x05,
-            BNO055_BL_REV_ID_ADDR = 0X06,
-
-            /* Accel data register */
-            BNO055_ACCEL_DATA_X_LSB_ADDR = 0X08,
-            BNO055_ACCEL_DATA_X_MSB_ADDR = 0X09,
-            BNO055_ACCEL_DATA_Y_LSB_ADDR = 0X0A,
-            BNO055_ACCEL_DATA_Y_MSB_ADDR = 0X0B,
-            BNO055_ACCEL_DATA_Z_LSB_ADDR = 0X0C,
-            BNO055_ACCEL_DATA_Z_MSB_ADDR = 0X0D,
-
-            /* Mag data register */
-            BNO055_MAG_DATA_X_LSB_ADDR = 0X0E,
-            BNO055_MAG_DATA_X_MSB_ADDR = 0X0F,
-            BNO055_MAG_DATA_Y_LSB_ADDR = 0X10,
-            BNO055_MAG_DATA_Y_MSB_ADDR = 0X11,
-            BNO055_MAG_DATA_Z_LSB_ADDR = 0X12,
-            BNO055_MAG_DATA_Z_MSB_ADDR = 0X13,
-
-            /* Gyro data registers */
-            BNO055_GYRO_DATA_X_LSB_ADDR = 0X14,
-            BNO055_GYRO_DATA_X_MSB_ADDR = 0X15,
-            BNO055_GYRO_DATA_Y_LSB_ADDR = 0X16,
-            BNO055_GYRO_DATA_Y_MSB_ADDR = 0X17,
-            BNO055_GYRO_DATA_Z_LSB_ADDR = 0X18,
-            BNO055_GYRO_DATA_Z_MSB_ADDR = 0X19,
-
-            /* Euler data registers */
-            BNO055_EULER_H_LSB_ADDR = 0X1A,
-            BNO055_EULER_H_MSB_ADDR = 0X1B,
-            BNO055_EULER_R_LSB_ADDR = 0X1C,
-            BNO055_EULER_R_MSB_ADDR = 0X1D,
-            BNO055_EULER_P_LSB_ADDR = 0X1E,
-            BNO055_EULER_P_MSB_ADDR = 0X1F,
-
-            /* Quaternion data registers */
-            BNO055_QUATERNION_DATA_W_LSB_ADDR = 0X20,
-            BNO055_QUATERNION_DATA_W_MSB_ADDR = 0X21,
-            BNO055_QUATERNION_DATA_X_LSB_ADDR = 0X22,
-            BNO055_QUATERNION_DATA_X_MSB_ADDR = 0X23,
-            BNO055_QUATERNION_DATA_Y_LSB_ADDR = 0X24,
-            BNO055_QUATERNION_DATA_Y_MSB_ADDR = 0X25,
-            BNO055_QUATERNION_DATA_Z_LSB_ADDR = 0X26,
-            BNO055_QUATERNION_DATA_Z_MSB_ADDR = 0X27,
-
-            /* Linear acceleration data registers */
-            BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR = 0X28,
-            BNO055_LINEAR_ACCEL_DATA_X_MSB_ADDR = 0X29,
-            BNO055_LINEAR_ACCEL_DATA_Y_LSB_ADDR = 0X2A,
-            BNO055_LINEAR_ACCEL_DATA_Y_MSB_ADDR = 0X2B,
-            BNO055_LINEAR_ACCEL_DATA_Z_LSB_ADDR = 0X2C,
-            BNO055_LINEAR_ACCEL_DATA_Z_MSB_ADDR = 0X2D,
-
-            /* Gravity data registers */
-            BNO055_GRAVITY_DATA_X_LSB_ADDR = 0X2E,
-            BNO055_GRAVITY_DATA_X_MSB_ADDR = 0X2F,
-            BNO055_GRAVITY_DATA_Y_LSB_ADDR = 0X30,
-            BNO055_GRAVITY_DATA_Y_MSB_ADDR = 0X31,
-            BNO055_GRAVITY_DATA_Z_LSB_ADDR = 0X32,
-            BNO055_GRAVITY_DATA_Z_MSB_ADDR = 0X33,
-
-            /* Temperature data register */
-            BNO055_TEMP_ADDR = 0X34,
-
-            /* Status registers */
-            BNO055_CALIB_STAT_ADDR = 0X35,
-            BNO055_SELFTEST_RESULT_ADDR = 0X36,
-            BNO055_INTR_STAT_ADDR = 0X37,
-
-            BNO055_SYS_CLK_STAT_ADDR = 0X38,
-            BNO055_SYS_STAT_ADDR = 0X39,
-            BNO055_SYS_ERR_ADDR = 0X3A,
-
-            /* Unit selection register */
-            BNO055_UNIT_SEL_ADDR = 0X3B,
-
-            /* Mode registers */
-            BNO055_OPR_MODE_ADDR = 0X3D,
-            BNO055_PWR_MODE_ADDR = 0X3E,
-
-            BNO055_SYS_TRIGGER_ADDR = 0X3F,
-            BNO055_TEMP_SOURCE_ADDR = 0X40,
-
-            /* Axis remap registers */
-            BNO055_AXIS_MAP_CONFIG_ADDR = 0X41,
-            BNO055_AXIS_MAP_SIGN_ADDR = 0X42,
-
-            /* SIC registers */
-            BNO055_SIC_MATRIX_0_LSB_ADDR = 0X43,
-            BNO055_SIC_MATRIX_0_MSB_ADDR = 0X44,
-            BNO055_SIC_MATRIX_1_LSB_ADDR = 0X45,
-            BNO055_SIC_MATRIX_1_MSB_ADDR = 0X46,
-            BNO055_SIC_MATRIX_2_LSB_ADDR = 0X47,
-            BNO055_SIC_MATRIX_2_MSB_ADDR = 0X48,
-            BNO055_SIC_MATRIX_3_LSB_ADDR = 0X49,
-            BNO055_SIC_MATRIX_3_MSB_ADDR = 0X4A,
-            BNO055_SIC_MATRIX_4_LSB_ADDR = 0X4B,
-            BNO055_SIC_MATRIX_4_MSB_ADDR = 0X4C,
-            BNO055_SIC_MATRIX_5_LSB_ADDR = 0X4D,
-            BNO055_SIC_MATRIX_5_MSB_ADDR = 0X4E,
-            BNO055_SIC_MATRIX_6_LSB_ADDR = 0X4F,
-            BNO055_SIC_MATRIX_6_MSB_ADDR = 0X50,
-            BNO055_SIC_MATRIX_7_LSB_ADDR = 0X51,
-            BNO055_SIC_MATRIX_7_MSB_ADDR = 0X52,
-            BNO055_SIC_MATRIX_8_LSB_ADDR = 0X53,
-            BNO055_SIC_MATRIX_8_MSB_ADDR = 0X54,
-
-            /* Accelerometer Offset registers */
-            ACCEL_OFFSET_X_LSB_ADDR = 0X55,
-            ACCEL_OFFSET_X_MSB_ADDR = 0X56,
-            ACCEL_OFFSET_Y_LSB_ADDR = 0X57,
-            ACCEL_OFFSET_Y_MSB_ADDR = 0X58,
-            ACCEL_OFFSET_Z_LSB_ADDR = 0X59,
-            ACCEL_OFFSET_Z_MSB_ADDR = 0X5A,
-
-            /* Magnetometer Offset registers */
-            MAG_OFFSET_X_LSB_ADDR = 0X5B,
-            MAG_OFFSET_X_MSB_ADDR = 0X5C,
-            MAG_OFFSET_Y_LSB_ADDR = 0X5D,
-            MAG_OFFSET_Y_MSB_ADDR = 0X5E,
-            MAG_OFFSET_Z_LSB_ADDR = 0X5F,
-            MAG_OFFSET_Z_MSB_ADDR = 0X60,
-
-            /* Gyroscope Offset register s*/
-            GYRO_OFFSET_X_LSB_ADDR = 0X61,
-            GYRO_OFFSET_X_MSB_ADDR = 0X62,
-            GYRO_OFFSET_Y_LSB_ADDR = 0X63,
-            GYRO_OFFSET_Y_MSB_ADDR = 0X64,
-            GYRO_OFFSET_Z_LSB_ADDR = 0X65,
-            GYRO_OFFSET_Z_MSB_ADDR = 0X66,
-
-            /* Radius registers */
-            ACCEL_RADIUS_LSB_ADDR = 0X67,
-            ACCEL_RADIUS_MSB_ADDR = 0X68,
-            MAG_RADIUS_LSB_ADDR = 0X69,
-            MAG_RADIUS_MSB_ADDR = 0X6A
-        } adafruit_bno055_reg_t;
-
-        /** BNO055 power settings */
-        typedef enum {
-            POWER_MODE_NORMAL = 0X00,
-            POWER_MODE_LOWPOWER = 0X01,
-            POWER_MODE_SUSPEND = 0X02
-        } adafruit_bno055_powermode_t;
-
-        /** Remap settings **/
-        typedef enum {
-            REMAP_CONFIG_P0 = 0x21,
-            REMAP_CONFIG_P1 = 0x24, // default
-            REMAP_CONFIG_P2 = 0x24,
-            REMAP_CONFIG_P3 = 0x21,
-            REMAP_CONFIG_P4 = 0x24,
-            REMAP_CONFIG_P5 = 0x21,
-            REMAP_CONFIG_P6 = 0x21,
-            REMAP_CONFIG_P7 = 0x24
-        } adafruit_bno055_axis_remap_config_t;
-
-        /** Remap Signs **/
-        typedef enum {
-            REMAP_SIGN_P0 = 0x04,
-            REMAP_SIGN_P1 = 0x00, // default
-            REMAP_SIGN_P2 = 0x06,
-            REMAP_SIGN_P3 = 0x02,
-            REMAP_SIGN_P4 = 0x03,
-            REMAP_SIGN_P5 = 0x01,
-            REMAP_SIGN_P6 = 0x07,
-            REMAP_SIGN_P7 = 0x05
-        } adafruit_bno055_axis_remap_sign_t;
-
-        /** A structure to represent revisions **/
-        typedef struct {
-            uint8_t accel_rev; /**< acceleration rev */
-            uint8_t mag_rev;   /**< magnetometer rev */
-            uint8_t gyro_rev;  /**< gyroscrope rev */
-            uint16_t sw_rev;   /**< SW rev */
-            uint8_t bl_rev;    /**< bootloader rev */
-        } adafruit_bno055_rev_info_t;
-
-        /** Vector Mappings **/
-        typedef enum {
-            VECTOR_ACCELEROMETER = BNO055_ACCEL_DATA_X_LSB_ADDR,
-            VECTOR_MAGNETOMETER = BNO055_MAG_DATA_X_LSB_ADDR,
-            VECTOR_GYROSCOPE = BNO055_GYRO_DATA_X_LSB_ADDR,
-            VECTOR_EULER = BNO055_EULER_H_LSB_ADDR,
-            VECTOR_LINEARACCEL = BNO055_LINEAR_ACCEL_DATA_X_LSB_ADDR,
-            VECTOR_GRAVITY = BNO055_GRAVITY_DATA_X_LSB_ADDR
-        } adafruit_vector_type_t;
-
-        int32_t _sensorID;
-        adafruit_bno055_opmode_t currentMode;
-
-    public:
-        /**
-         * @brief Construct a new IMUSensor object
-         * 
-         */
-        IMUSensor(std::string I2C_FILE);
-
-        /**
-         * @brief Inititlize the IMU
-         * 
-         * @param data Data for initializing the sensor
-         * @return true Initialization Success
-         * @return false Initialization Failure
-         */
-        bool init() override;
-
-        //Data handlers, copied from adafruit implementation (not all of them)
-        void setModeTemp(adafruit_bno055_opmode_t mode);
-        void setModeHard(adafruit_bno055_opmode_t mode);
-        adafruit_bno055_opmode_t getMode();
-
-        imu::Vector<3> getVector(adafruit_vector_type_t vector_type);
-        imu::Quaternion getQuat();
-        int8_t getTemp();
-
-        //Configuration and status getters/setters
-        void setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode);
-        void setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign);        
-        void getSystemStatus(uint8_t *system_status, uint8_t *self_test_result,
-                       uint8_t *system_error);
-        void getCalibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel,
-                      uint8_t *mag);
-
-        /* Functions to deal with raw calibration data */
-        bool getSensorOffsets(uint8_t *calibData);
-        bool getSensorOffsets(adafruit_bno055_offsets_t &offsets_type);
-        void setSensorOffsets(const uint8_t *calibData);
-        void setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type);
-        bool isFullyCalibrated();
-
-        /* Power managments functions */
-        void enterSuspendMode();
-        void enterNormalMode();
-
-};
\ No newline at end of file
diff --git a/include/unused/surfaceFitModel.hpp b/include/unused/surfaceFitModel.hpp
deleted file mode 100644
index 303633f..0000000
--- a/include/unused/surfaceFitModel.hpp
+++ /dev/null
@@ -1,32 +0,0 @@
-#pragma once
-#include <cmath>
-#include "eigen3/Eigen/Dense"
-
-
-using namespace Eigen;
-
-#define X_DEGREE 4 // Highest x-degree of current Surface Fit Model
-#define Y_DEGREE 3 // Highest y-degree of current Surface Fit Model
-
-class SurfaceFitModel {
-
-    private:
-        MatrixXd p; // Polynomial values
-
-    public:
-
-        /**
-         * @brief Construct a new Surface Fit Model object
-         * 
-         */
-        SurfaceFitModel();
-
-        /**
-         * @brief 
-         * 
-         * @param x 
-         * @param y 
-         * @return double 
-         */
-        double getFit(double x, double y);
-};