02/24/2024 Test Launch Version (BB Black) (#11)

* Adding a 90% completed, compilable but untested ADS

* Made basic changes to actuator & sensor. Also added motor class

* Removed unnecessary .cpp files

* Updated sensor & actuator classes, finished ads, added variable time step to kalman filter, set up all tests for future assertions

* Relocated 'main' to 'active-drag-system.cpp'. Added more info to README

* Removed main.cpp

* Added more details to README

* Changed some function parameters from pass-by-pointer to pass-by-reference. Also removed the std namespace

* Started writing the test cases

* Updated the .gitignore file

* Removed some files that should be gitignored

* Up to date with Jazz's pull request

* Test Launch Branch Created; PRU Servo Control with Test Program

* Added I2C device class and register IDs for MPL [INCOMPLETE SENSOR IMPLEMENTATION]

Needs actual data getting function implementation for both sensors and register IDs for BNO, will implement shortly.

* Partial implementation of MPL sensor

Added startup method, still needs fleshed out data getters and setters and finished I2C implementation. MOST LIKELY WILL HAVE COMPILATION ISSUES.

* *Hypothetically* complete MPL implementation

NEEDS HARDWARE TESTING

* IMU Header and init() method implementation

Needs like, all data handling still lol

* Hypothetically functional (Definitely won't compile)

* We ball?

---------

Co-authored-by: Jazz Jackson <[email protected]>
Co-authored-by: Cian Capacci <[email protected]>

15 files changed, 1697 insertions, 0 deletions

diff --git a/include/actuationPlan.hpp b/include/actuationPlan.hpp
new file mode 100644
index 0000000..8d1ef26
--- /dev/null
+++ b/include/actuationPlan.hpp
@@ -0,0 +1,36 @@
+#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/actuator.hpp b/include/actuator.hpp
new file mode 100644
index 0000000..e7c4120
--- /dev/null
+++ b/include/actuator.hpp
@@ -0,0 +1,30 @@
+#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/ads.hpp b/include/ads.hpp
new file mode 100644
index 0000000..b16c4fb
--- /dev/null
+++ b/include/ads.hpp
@@ -0,0 +1,66 @@
+#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/kalmanfilter.hpp b/include/kalmanfilter.hpp
new file mode 100644
index 0000000..2c8398c
--- /dev/null
+++ b/include/kalmanfilter.hpp
@@ -0,0 +1,98 @@
+#pragma once
+#include "eigen3/Eigen/Dense"
+#include <iostream>
+#include <cmath>
+
+using namespace Eigen;
+
+class KalmanFilter {
+
+    private:
+
+        VectorXf state_vector; // x
+        MatrixXf state_covariance; // P
+
+        MatrixXf state_transition_M; // F
+        MatrixXf control_input_M; // B
+        MatrixXf measurement_M; // H
+
+        MatrixXf process_noise_covariance; // Q
+        MatrixXf measurement_covariance; // R
+
+        MatrixXf I; // Identity
+
+        int n; // State Vector Dimension
+        int p; // Control Vector Dimension
+        int m; // Measurement Vector Dimension
+
+        double dt; // timestep
+
+        /**
+         * @brief Initialize all necessary matrices.
+         * 
+         */
+        void matrixInit();
+
+        /**
+         * @brief Update any existing variable elements in your State Transition 
+         * & Control Input matrices.
+         * 
+         */
+        void updateMatrices();
+
+        /**
+         * @brief Predict current State Vector & State Covariance 
+         * given the current control input.
+         * 
+         * @param control_vec The control input to be applied to the
+         * previous State Vector
+         */
+        void prediction(VectorXf control_vec);
+
+        /**
+         * @brief Correct the State Vector & State Covariance predictions
+         * given a related current measurement.
+         * 
+         * @param measurement Current measurement
+         */
+        void update(VectorXf measurement);
+
+    public:
+
+        KalmanFilter();
+        
+        /**
+         * @brief Construct a new Kalman Filter object
+         * Set the sizes of the Filter's user inputs
+         * 
+         * @param state_dim State Vector Dimension. i.e. dim(x)
+         * @param control_dim Control/Input Vector Dimension. i.e. dim(u)
+         * @param measurement_dim Measurement Vector Dimension. i.e. dim(z)
+         * @param dt timestep
+         */
+        KalmanFilter(int state_dim, int control_dim, int measurement_dim, double dt);
+
+
+        /**
+         * @brief Optional function to set a custom initial state for the Filter.
+         * If not called, State Vector & State Covariance are zero-initialized 
+         * 
+         * @param state_vec Initial State Vector
+         * @param state_cov Initial State Covariance
+         * 
+         * @return Whether state initialization was successful
+         */
+        bool setInitialState(VectorXf state_vec, MatrixXf state_cov);
+
+        /**
+         * @brief Perform Kalman Filter operation with given control input vector
+         * and measurement.
+         * 
+         * @param control current control command
+         * @param measurement current measurement
+         * @param dt timestep
+         * 
+         * @return Filtered state vector
+         */
+        VectorXf run(VectorXf control, VectorXf measurement, double _dt);
+};
\ No newline at end of file
diff --git a/include/logger.hpp b/include/logger.hpp
new file mode 100644
index 0000000..90fa05a
--- /dev/null
+++ b/include/logger.hpp
@@ -0,0 +1,83 @@
+#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/math/imumath.h b/include/math/imumath.h
new file mode 100644
index 0000000..831df60
--- /dev/null
+++ b/include/math/imumath.h
@@ -0,0 +1,30 @@
+//  Inertial Measurement Unit Maths Library
+//
+//  Copyright 2013-2021 Sam Cowen <[email protected]>
+//
+//  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.
+
+#ifndef IMUMATH_H
+#define IMUMATH_H
+
+#include "matrix.h"
+#include "quaternion.h"
+#include "vector.h"
+
+#endif
\ No newline at end of file
diff --git a/include/math/matrix.h b/include/math/matrix.h
new file mode 100644
index 0000000..e71b2db
--- /dev/null
+++ b/include/math/matrix.h
@@ -0,0 +1,185 @@
+//  Inertial Measurement Unit Maths Library
+//
+//  Copyright 2013-2021 Sam Cowen <[email protected]>
+//  Bug fixes and cleanups by Gé Vissers ([email protected])
+//
+//  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.
+
+#ifndef IMUMATH_MATRIX_HPP
+#define IMUMATH_MATRIX_HPP
+
+#include <stdint.h>
+#include <string.h>
+
+#include "vector.h"
+
+namespace imu {
+
+template <uint8_t N> class Matrix {
+public:
+  Matrix() { memset(_cell_data, 0, N * N * sizeof(double)); }
+
+  Matrix(const Matrix &m) {
+    for (int ij = 0; ij < N * N; ++ij) {
+      _cell_data[ij] = m._cell_data[ij];
+    }
+  }
+
+  ~Matrix() {}
+
+  Matrix &operator=(const Matrix &m) {
+    for (int ij = 0; ij < N * N; ++ij) {
+      _cell_data[ij] = m._cell_data[ij];
+    }
+    return *this;
+  }
+
+  Vector<N> row_to_vector(int i) const {
+    Vector<N> ret;
+    for (int j = 0; j < N; j++) {
+      ret[j] = cell(i, j);
+    }
+    return ret;
+  }
+
+  Vector<N> col_to_vector(int j) const {
+    Vector<N> ret;
+    for (int i = 0; i < N; i++) {
+      ret[i] = cell(i, j);
+    }
+    return ret;
+  }
+
+  void vector_to_row(const Vector<N> &v, int i) {
+    for (int j = 0; j < N; j++) {
+      cell(i, j) = v[j];
+    }
+  }
+
+  void vector_to_col(const Vector<N> &v, int j) {
+    for (int i = 0; i < N; i++) {
+      cell(i, j) = v[i];
+    }
+  }
+
+  double operator()(int i, int j) const { return cell(i, j); }
+  double &operator()(int i, int j) { return cell(i, j); }
+
+  double cell(int i, int j) const { return _cell_data[i * N + j]; }
+  double &cell(int i, int j) { return _cell_data[i * N + j]; }
+
+  Matrix operator+(const Matrix &m) const {
+    Matrix ret;
+    for (int ij = 0; ij < N * N; ++ij) {
+      ret._cell_data[ij] = _cell_data[ij] + m._cell_data[ij];
+    }
+    return ret;
+  }
+
+  Matrix operator-(const Matrix &m) const {
+    Matrix ret;
+    for (int ij = 0; ij < N * N; ++ij) {
+      ret._cell_data[ij] = _cell_data[ij] - m._cell_data[ij];
+    }
+    return ret;
+  }
+
+  Matrix operator*(double scalar) const {
+    Matrix ret;
+    for (int ij = 0; ij < N * N; ++ij) {
+      ret._cell_data[ij] = _cell_data[ij] * scalar;
+    }
+    return ret;
+  }
+
+  Matrix operator*(const Matrix &m) const {
+    Matrix ret;
+    for (int i = 0; i < N; i++) {
+      Vector<N> row = row_to_vector(i);
+      for (int j = 0; j < N; j++) {
+        ret(i, j) = row.dot(m.col_to_vector(j));
+      }
+    }
+    return ret;
+  }
+
+  Matrix transpose() const {
+    Matrix ret;
+    for (int i = 0; i < N; i++) {
+      for (int j = 0; j < N; j++) {
+        ret(j, i) = cell(i, j);
+      }
+    }
+    return ret;
+  }
+
+  Matrix<N - 1> minor_matrix(int row, int col) const {
+    Matrix<N - 1> ret;
+    for (int i = 0, im = 0; i < N; i++) {
+      if (i == row)
+        continue;
+
+      for (int j = 0, jm = 0; j < N; j++) {
+        if (j != col) {
+          ret(im, jm++) = cell(i, j);
+        }
+      }
+      im++;
+    }
+    return ret;
+  }
+
+  double determinant() const {
+    // specialization for N == 1 given below this class
+    double det = 0.0, sign = 1.0;
+    for (int i = 0; i < N; ++i, sign = -sign)
+      det += sign * cell(0, i) * minor_matrix(0, i).determinant();
+    return det;
+  }
+
+  Matrix invert() const {
+    Matrix ret;
+    double det = determinant();
+
+    for (int i = 0; i < N; i++) {
+      for (int j = 0; j < N; j++) {
+        ret(i, j) = minor_matrix(j, i).determinant() / det;
+        if ((i + j) % 2 == 1)
+          ret(i, j) = -ret(i, j);
+      }
+    }
+    return ret;
+  }
+
+  double trace() const {
+    double tr = 0.0;
+    for (int i = 0; i < N; ++i)
+      tr += cell(i, i);
+    return tr;
+  }
+
+private:
+  double _cell_data[N * N];
+};
+
+template <> inline double Matrix<1>::determinant() const { return cell(0, 0); }
+
+}; // namespace imu
+
+#endif
\ No newline at end of file
diff --git a/include/math/quaternion.h b/include/math/quaternion.h
new file mode 100644
index 0000000..c5b907a
--- /dev/null
+++ b/include/math/quaternion.h
@@ -0,0 +1,214 @@
+//  Inertial Measurement Unit Maths Library
+//
+//  Copyright 2013-2021 Sam Cowen <[email protected]>
+//  Bug fixes and cleanups by Gé Vissers ([email protected])
+//
+//  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.
+
+#ifndef IMUMATH_QUATERNION_HPP
+#define IMUMATH_QUATERNION_HPP
+
+#include <math.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "matrix.h"
+
+namespace imu {
+
+class Quaternion {
+public:
+  Quaternion() : _w(1.0), _x(0.0), _y(0.0), _z(0.0) {}
+
+  Quaternion(double w, double x, double y, double z)
+      : _w(w), _x(x), _y(y), _z(z) {}
+
+  Quaternion(double w, Vector<3> vec)
+      : _w(w), _x(vec.x()), _y(vec.y()), _z(vec.z()) {}
+
+  double &w() { return _w; }
+  double &x() { return _x; }
+  double &y() { return _y; }
+  double &z() { return _z; }
+
+  double w() const { return _w; }
+  double x() const { return _x; }
+  double y() const { return _y; }
+  double z() const { return _z; }
+
+  double magnitude() const {
+    return sqrt(_w * _w + _x * _x + _y * _y + _z * _z);
+  }
+
+  void normalize() {
+    double mag = magnitude();
+    *this = this->scale(1 / mag);
+  }
+
+  Quaternion conjugate() const { return Quaternion(_w, -_x, -_y, -_z); }
+
+  void fromAxisAngle(const Vector<3> &axis, double theta) {
+    _w = cos(theta / 2);
+    // only need to calculate sine of half theta once
+    double sht = sin(theta / 2);
+    _x = axis.x() * sht;
+    _y = axis.y() * sht;
+    _z = axis.z() * sht;
+  }
+
+  void fromMatrix(const Matrix<3> &m) {
+    double tr = m.trace();
+
+    double S;
+    if (tr > 0) {
+      S = sqrt(tr + 1.0) * 2;
+      _w = 0.25 * S;
+      _x = (m(2, 1) - m(1, 2)) / S;
+      _y = (m(0, 2) - m(2, 0)) / S;
+      _z = (m(1, 0) - m(0, 1)) / S;
+    } else if (m(0, 0) > m(1, 1) && m(0, 0) > m(2, 2)) {
+      S = sqrt(1.0 + m(0, 0) - m(1, 1) - m(2, 2)) * 2;
+      _w = (m(2, 1) - m(1, 2)) / S;
+      _x = 0.25 * S;
+      _y = (m(0, 1) + m(1, 0)) / S;
+      _z = (m(0, 2) + m(2, 0)) / S;
+    } else if (m(1, 1) > m(2, 2)) {
+      S = sqrt(1.0 + m(1, 1) - m(0, 0) - m(2, 2)) * 2;
+      _w = (m(0, 2) - m(2, 0)) / S;
+      _x = (m(0, 1) + m(1, 0)) / S;
+      _y = 0.25 * S;
+      _z = (m(1, 2) + m(2, 1)) / S;
+    } else {
+      S = sqrt(1.0 + m(2, 2) - m(0, 0) - m(1, 1)) * 2;
+      _w = (m(1, 0) - m(0, 1)) / S;
+      _x = (m(0, 2) + m(2, 0)) / S;
+      _y = (m(1, 2) + m(2, 1)) / S;
+      _z = 0.25 * S;
+    }
+  }
+
+  void toAxisAngle(Vector<3> &axis, double &angle) const {
+    double sqw = sqrt(1 - _w * _w);
+    if (sqw == 0) // it's a singularity and divide by zero, avoid
+      return;
+
+    angle = 2 * acos(_w);
+    axis.x() = _x / sqw;
+    axis.y() = _y / sqw;
+    axis.z() = _z / sqw;
+  }
+
+  Matrix<3> toMatrix() const {
+    Matrix<3> ret;
+    ret.cell(0, 0) = 1 - 2 * _y * _y - 2 * _z * _z;
+    ret.cell(0, 1) = 2 * _x * _y - 2 * _w * _z;
+    ret.cell(0, 2) = 2 * _x * _z + 2 * _w * _y;
+
+    ret.cell(1, 0) = 2 * _x * _y + 2 * _w * _z;
+    ret.cell(1, 1) = 1 - 2 * _x * _x - 2 * _z * _z;
+    ret.cell(1, 2) = 2 * _y * _z - 2 * _w * _x;
+
+    ret.cell(2, 0) = 2 * _x * _z - 2 * _w * _y;
+    ret.cell(2, 1) = 2 * _y * _z + 2 * _w * _x;
+    ret.cell(2, 2) = 1 - 2 * _x * _x - 2 * _y * _y;
+    return ret;
+  }
+
+  // Returns euler angles that represent the quaternion.  Angles are
+  // returned in rotation order and right-handed about the specified
+  // axes:
+  //
+  //   v[0] is applied 1st about z (ie, roll)
+  //   v[1] is applied 2nd about y (ie, pitch)
+  //   v[2] is applied 3rd about x (ie, yaw)
+  //
+  // Note that this means result.x() is not a rotation about x;
+  // similarly for result.z().
+  //
+  Vector<3> toEuler() const {
+    Vector<3> ret;
+    double sqw = _w * _w;
+    double sqx = _x * _x;
+    double sqy = _y * _y;
+    double sqz = _z * _z;
+
+    ret.x() = atan2(2.0 * (_x * _y + _z * _w), (sqx - sqy - sqz + sqw));
+    ret.y() = asin(-2.0 * (_x * _z - _y * _w) / (sqx + sqy + sqz + sqw));
+    ret.z() = atan2(2.0 * (_y * _z + _x * _w), (-sqx - sqy + sqz + sqw));
+
+    return ret;
+  }
+
+  Vector<3> toAngularVelocity(double dt) const {
+    Vector<3> ret;
+    Quaternion one(1.0, 0.0, 0.0, 0.0);
+    Quaternion delta = one - *this;
+    Quaternion r = (delta / dt);
+    r = r * 2;
+    r = r * one;
+
+    ret.x() = r.x();
+    ret.y() = r.y();
+    ret.z() = r.z();
+    return ret;
+  }
+
+  Vector<3> rotateVector(const Vector<2> &v) const {
+    return rotateVector(Vector<3>(v.x(), v.y()));
+  }
+
+  Vector<3> rotateVector(const Vector<3> &v) const {
+    Vector<3> qv(_x, _y, _z);
+    Vector<3> t = qv.cross(v) * 2.0;
+    return v + t * _w + qv.cross(t);
+  }
+
+  Quaternion operator*(const Quaternion &q) const {
+    return Quaternion(_w * q._w - _x * q._x - _y * q._y - _z * q._z,
+                      _w * q._x + _x * q._w + _y * q._z - _z * q._y,
+                      _w * q._y - _x * q._z + _y * q._w + _z * q._x,
+                      _w * q._z + _x * q._y - _y * q._x + _z * q._w);
+  }
+
+  Quaternion operator+(const Quaternion &q) const {
+    return Quaternion(_w + q._w, _x + q._x, _y + q._y, _z + q._z);
+  }
+
+  Quaternion operator-(const Quaternion &q) const {
+    return Quaternion(_w - q._w, _x - q._x, _y - q._y, _z - q._z);
+  }
+
+  Quaternion operator/(double scalar) const {
+    return Quaternion(_w / scalar, _x / scalar, _y / scalar, _z / scalar);
+  }
+
+  Quaternion operator*(double scalar) const { return scale(scalar); }
+
+  Quaternion scale(double scalar) const {
+    return Quaternion(_w * scalar, _x * scalar, _y * scalar, _z * scalar);
+  }
+
+private:
+  double _w, _x, _y, _z;
+};
+
+} // namespace imu
+
+#endif
\ No newline at end of file
diff --git a/include/math/vector.h b/include/math/vector.h
new file mode 100644
index 0000000..10345c3
--- /dev/null
+++ b/include/math/vector.h
@@ -0,0 +1,184 @@
+//  Inertial Measurement Unit Maths Library
+//
+//  Copyright 2013-2021 Sam Cowen <[email protected]>
+//  Bug fixes and cleanups by Gé Vissers ([email protected])
+//
+//  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.
+
+#ifndef IMUMATH_VECTOR_HPP
+#define IMUMATH_VECTOR_HPP
+
+#include <math.h>
+#include <stdint.h>
+#include <string.h>
+
+namespace imu {
+
+template <uint8_t N> class Vector {
+public:
+  Vector() { memset(p_vec, 0, sizeof(double) * N); }
+
+  Vector(double a) {
+    memset(p_vec, 0, sizeof(double) * N);
+    p_vec[0] = a;
+  }
+
+  Vector(double a, double b) {
+    memset(p_vec, 0, sizeof(double) * N);
+    p_vec[0] = a;
+    p_vec[1] = b;
+  }
+
+  Vector(double a, double b, double c) {
+    memset(p_vec, 0, sizeof(double) * N);
+    p_vec[0] = a;
+    p_vec[1] = b;
+    p_vec[2] = c;
+  }
+
+  Vector(double a, double b, double c, double d) {
+    memset(p_vec, 0, sizeof(double) * N);
+    p_vec[0] = a;
+    p_vec[1] = b;
+    p_vec[2] = c;
+    p_vec[3] = d;
+  }
+
+  Vector(const Vector<N> &v) {
+    for (int x = 0; x < N; x++)
+      p_vec[x] = v.p_vec[x];
+  }
+
+  ~Vector() {}
+
+  uint8_t n() { return N; }
+
+  double magnitude() const {
+    double res = 0;
+    for (int i = 0; i < N; i++)
+      res += p_vec[i] * p_vec[i];
+
+    return sqrt(res);
+  }
+
+  void normalize() {
+    double mag = magnitude();
+    if (isnan(mag) || mag == 0.0)
+      return;
+
+    for (int i = 0; i < N; i++)
+      p_vec[i] /= mag;
+  }
+
+  double dot(const Vector &v) const {
+    double ret = 0;
+    for (int i = 0; i < N; i++)
+      ret += p_vec[i] * v.p_vec[i];
+
+    return ret;
+  }
+
+  // The cross product is only valid for vectors with 3 dimensions,
+  // with the exception of higher dimensional stuff that is beyond
+  // the intended scope of this library.
+  // Only a definition for N==3 is given below this class, using
+  // cross() with another value for N will result in a link error.
+  Vector cross(const Vector &v) const;
+
+  Vector scale(double scalar) const {
+    Vector ret;
+    for (int i = 0; i < N; i++)
+      ret.p_vec[i] = p_vec[i] * scalar;
+    return ret;
+  }
+
+  Vector invert() const {
+    Vector ret;
+    for (int i = 0; i < N; i++)
+      ret.p_vec[i] = -p_vec[i];
+    return ret;
+  }
+
+  Vector &operator=(const Vector &v) {
+    for (int x = 0; x < N; x++)
+      p_vec[x] = v.p_vec[x];
+    return *this;
+  }
+
+  double &operator[](int n) { return p_vec[n]; }
+
+  double operator[](int n) const { return p_vec[n]; }
+
+  double &operator()(int n) { return p_vec[n]; }
+
+  double operator()(int n) const { return p_vec[n]; }
+
+  Vector operator+(const Vector &v) const {
+    Vector ret;
+    for (int i = 0; i < N; i++)
+      ret.p_vec[i] = p_vec[i] + v.p_vec[i];
+    return ret;
+  }
+
+  Vector operator-(const Vector &v) const {
+    Vector ret;
+    for (int i = 0; i < N; i++)
+      ret.p_vec[i] = p_vec[i] - v.p_vec[i];
+    return ret;
+  }
+
+  Vector operator*(double scalar) const { return scale(scalar); }
+
+  Vector operator/(double scalar) const {
+    Vector ret;
+    for (int i = 0; i < N; i++)
+      ret.p_vec[i] = p_vec[i] / scalar;
+    return ret;
+  }
+
+  void toDegrees() {
+    for (int i = 0; i < N; i++)
+      p_vec[i] *= 57.2957795131; // 180/pi
+  }
+
+  void toRadians() {
+    for (int i = 0; i < N; i++)
+      p_vec[i] *= 0.01745329251; // pi/180
+  }
+
+  double &x() { return p_vec[0]; }
+  double &y() { return p_vec[1]; }
+  double &z() { return p_vec[2]; }
+  double x() const { return p_vec[0]; }
+  double y() const { return p_vec[1]; }
+  double z() const { return p_vec[2]; }
+
+private:
+  double p_vec[N];
+};
+
+template <> inline Vector<3> Vector<3>::cross(const Vector &v) const {
+  return Vector(p_vec[1] * v.p_vec[2] - p_vec[2] * v.p_vec[1],
+                p_vec[2] * v.p_vec[0] - p_vec[0] * v.p_vec[2],
+                p_vec[0] * v.p_vec[1] - p_vec[1] * v.p_vec[0]);
+}
+
+} // namespace imu
+
+#endif
\ No newline at end of file
diff --git a/include/motor.hpp b/include/motor.hpp
new file mode 100644
index 0000000..cb95b6a
--- /dev/null
+++ b/include/motor.hpp
@@ -0,0 +1,36 @@
+#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/rocketUtils.hpp b/include/rocketUtils.hpp
new file mode 100644
index 0000000..65b9cea
--- /dev/null
+++ b/include/rocketUtils.hpp
@@ -0,0 +1,121 @@
+#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/sensorAltimeter.hpp b/include/sensorAltimeter.hpp
new file mode 100644
index 0000000..aa3a3cd
--- /dev/null
+++ b/include/sensorAltimeter.hpp
@@ -0,0 +1,165 @@
+#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/sensorI2C.hpp b/include/sensorI2C.hpp
new file mode 100644
index 0000000..bd497a5
--- /dev/null
+++ b/include/sensorI2C.hpp
@@ -0,0 +1,105 @@
+#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/sensorIMU.hpp b/include/sensorIMU.hpp
new file mode 100644
index 0000000..caddbe4
--- /dev/null
+++ b/include/sensorIMU.hpp
@@ -0,0 +1,312 @@
+#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/surfaceFitModel.hpp b/include/surfaceFitModel.hpp
new file mode 100644
index 0000000..303633f
--- /dev/null
+++ b/include/surfaceFitModel.hpp
@@ -0,0 +1,32 @@
+#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);
+};