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

1 files changed, 0 insertions, 55 deletions

diff --git a/src/AltEst/altitude.h b/src/AltEst/altitude.h
deleted file mode 100644
index 1ca6cb0..0000000
--- a/src/AltEst/altitude.h
+++ /dev/null
@@ -1,55 +0,0 @@
-/*
-    altitude.h: Altitude estimation via barometer/accelerometer fusion
-*/
-
-# pragma once
-
-#include "filters.h"
-#include "algebra.h"
-#include "pico/time.h"
-#include "pico/types.h"
-
-class AltitudeEstimator {
-
-  private:
-    // required parameters for the filters used for the estimations
-    // sensor's standard deviations
-    float sigmaAccel;
-    float sigmaGyro;
-    float sigmaBaro;
-    // Acceleration markov chain model state transition constant
-    float ca;
-    // Zero-velocity update acceleration threshold
-    float accelThreshold;
-    // gravity
-    float g = 9.81;
-    // For computing the sampling period
-    absolute_time_t prevTime = get_absolute_time();
-    uint32_t previousTime = to_us_since_boot(prevTime);
-    // required filters for altitude and vertical velocity estimation
-    KalmanFilter kalman;
-    ComplementaryFilter complementary;
-    // Estimated past vertical acceleration
-    float pastVerticalAccel = 0;
-    float pastVerticalVelocity = 0;
-    float pastAltitude = 0;
-    float pastGyro[3] = {0, 0, 0};
-    float pastAccel[3] = {0, 0, 0};
-    // estimated altitude and vertical velocity
-    float estimatedAltitude = 0;
-    float estimatedVelocity = 0;
-
-  public:
-
-    AltitudeEstimator(float sigmaAccel, float sigmaGyro, float sigmaBaro,
-                      float ca, float accelThreshold);
-
-    void estimate(float accel[3], float gyro[3], float baroHeight, uint32_t timestamp);
-
-    float getAltitude();
-
-    float getVerticalVelocity();
-
-    float getVerticalAcceleration();
-
-}; // class AltitudeEstimator