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

6 files changed, 0 insertions, 768 deletions

diff --git a/src/AltEst/algebra.cpp b/src/AltEst/algebra.cpp
deleted file mode 100644
index 653c3b9..0000000
--- a/src/AltEst/algebra.cpp
+++ /dev/null
@@ -1,292 +0,0 @@
-/*
-  algebra.cpp: This file contains a number of utilities useful for handling
-  3D vectors
-
-  This work is an adaptation from vvector.h, written by Linas Vepstras. The
-  original code can be found at:
-
-  https://github.com/markkilgard/glut/blob/master/lib/gle/vvector.h
-
-  HISTORY:
-  Written by Linas Vepstas, August 1991
-  Added 2D code, March 1993
-  Added Outer products, C++ proofed, Linas Vepstas October 1993
-  Adapted for altitude estimation tasks by Juan Gallostra June 2018
-*/
-
-//#include <cmath>
-#include <stdio.h>
-
-#include "algebra.h"
-
-// Copy 3D vector
-void copyVector(float b[3],float a[3])
-{
-   b[0] = a[0];
-   b[1] = a[1];
-   b[2] = a[2];
-}
-
-
-// Vector difference
-void subtractVectors(float v21[3], float v2[3], float v1[3])
-{
-   v21[0] = v2[0] - v1[0];
-   v21[1] = v2[1] - v1[1];
-   v21[2] = v2[2] - v1[2];
-}
-
-// Vector sum
-void sumVectors(float v21[3], float v2[3], float v1[3])
-{
-   v21[0] = v2[0] + v1[0];
-   v21[1] = v2[1] + v1[1];
-   v21[2] = v2[2] + v1[2];
-}
-
-// scalar times vector
-void scaleVector(float c[3],float a, float b[3])
-{
-   (c)[0] = a*b[0];
-   (c)[1] = a*b[1];
-   (c)[2] = a*b[2];
-}
-
-// accumulate scaled vector
-void accumulateScaledVector(float c[3], float a, float b[3])
-{
-   (c)[0] += a*b[0];
-   (c)[1] += a*b[1];
-   (c)[2] += a*b[2];
-}
-
-// Vector dot product
-void dotProductVectors(float * c, float a[3], float b[3])
-{
-   *c = a[0]*b[0] + a[1]*b[1] + a[2]*b[2];
-}
-
-// Vector length
-void vectorLength(float * len, float a[3])
-{
-   float tmp;
-   tmp = a[0]*a[0] + a[1]*a[1]+a[2]*a[2];
-   *len = sqrt(tmp);
-}
-
-// Normalize vector
-void normalizeVector(float a[3])
-{
-   float len;
-   vectorLength(& len,a);
-   if (len != 0.0) {
-      len = 1.0 / len;
-      a[0] *= len;
-      a[1] *= len;
-      a[2] *= len;
-   }
-}
-
-// 3D Vector cross product yeilding vector
-void crossProductVectors(float c[3], float a[3], float b[3])
-{
-   c[0] = a[1] * b[2] - a[2] * b[1];
-   c[1] = a[2] * b[0] - a[0] * b[2];
-   c[2] = a[0] * b[1] - a[1] * b[0];
-}
-
-// initialize matrix
-void identityMatrix3x3(float m[3][3])
-{
-   m[0][0] = 1.0;
-   m[0][1] = 0.0;
-   m[0][2] = 0.0;
-
-   m[1][0] = 0.0;
-   m[1][1] = 1.0;
-   m[1][2] = 0.0;
-
-   m[2][0] = 0.0;
-   m[2][1] = 0.0;
-   m[2][2] = 1.0;
-}
-
-// matrix copy
-void copyMatrix3x3(float b[3][3], float a[3][3])
-{
-   b[0][0] = a[0][0];
-   b[0][1] = a[0][1];
-   b[0][2] = a[0][2];
-
-   b[1][0] = a[1][0];
-   b[1][1] = a[1][1];
-   b[1][2] = a[1][2];
-
-   b[2][0] = a[2][0];
-   b[2][1] = a[2][1];
-   b[2][2] = a[2][2];
-}
-
-// matrix transpose
-void transposeMatrix3x3(float b[3][3], float a[3][3])
-{
-   b[0][0] = a[0][0];
-   b[0][1] = a[1][0];
-   b[0][2] = a[2][0];
-
-   b[1][0] = a[0][1];
-   b[1][1] = a[1][1];
-   b[1][2] = a[2][1];
-
-   b[2][0] = a[0][2];
-   b[2][1] = a[1][2];
-   b[2][2] = a[2][2];
-}
-
-// multiply matrix by scalar
-void scaleMatrix3x3(float b[3][3], float s, float a[3][3])
-{
-   b[0][0] = (s) * a[0][0];
-   b[0][1] = (s) * a[0][1];
-   b[0][2] = (s) * a[0][2];
-
-   b[1][0] = (s) * a[1][0];
-   b[1][1] = (s) * a[1][1];
-   b[1][2] = (s) * a[1][2];
-
-   b[2][0] = (s) * a[2][0];
-   b[2][1] = (s) * a[2][1];
-   b[2][2] = (s) * a[2][2];
-}
-
-// multiply matrix by scalar and add result to another matrix
-void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3])
-{
-   b[0][0] += s * a[0][0];
-   b[0][1] += s * a[0][1];
-   b[0][2] += s * a[0][2];
-
-   b[1][0] += s * a[1][0];
-   b[1][1] += s * a[1][1];
-   b[1][2] += s * a[1][2];
-
-   b[2][0] += s * a[2][0];
-   b[2][1] += s * a[2][1];
-   b[2][2] += s * a[2][2];
-}
-
-// matrix product
-// c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y]
-void matrixProduct3x3(float c[3][3], float a[3][3], float b[3][3])
-{
-   c[0][0] = a[0][0]*b[0][0]+a[0][1]*b[1][0]+a[0][2]*b[2][0];
-   c[0][1] = a[0][0]*b[0][1]+a[0][1]*b[1][1]+a[0][2]*b[2][1];
-   c[0][2] = a[0][0]*b[0][2]+a[0][1]*b[1][2]+a[0][2]*b[2][2];
-
-   c[1][0] = a[1][0]*b[0][0]+a[1][1]*b[1][0]+a[1][2]*b[2][0];
-   c[1][1] = a[1][0]*b[0][1]+a[1][1]*b[1][1]+a[1][2]*b[2][1];
-   c[1][2] = a[1][0]*b[0][2]+a[1][1]*b[1][2]+a[1][2]*b[2][2];
-
-   c[2][0] = a[2][0]*b[0][0]+a[2][1]*b[1][0]+a[2][2]*b[2][0];
-   c[2][1] = a[2][0]*b[0][1]+a[2][1]*b[1][1]+a[2][2]*b[2][1];
-   c[2][2] = a[2][0]*b[0][2]+a[2][1]*b[1][2]+a[2][2]*b[2][2];
-}
-
-// matrix times vector
-void matrixDotVector3x3(float p[3], float m[3][3], float v[3])
-{
-   p[0] = m[0][0]*v[0] + m[0][1]*v[1] + m[0][2]*v[2];
-   p[1] = m[1][0]*v[0] + m[1][1]*v[1] + m[1][2]*v[2];
-   p[2] = m[2][0]*v[0] + m[2][1]*v[1] + m[2][2]*v[2];
-}
-
-// determinant of matrix
-// Computes determinant of matrix m, returning d
-void determinant3x3(float * d, float m[3][3])
-{
-   *d = m[0][0] * (m[1][1]*m[2][2] - m[1][2] * m[2][1]);
-   *d -= m[0][1] * (m[1][0]*m[2][2] - m[1][2] * m[2][0]);
-   *d += m[0][2] * (m[1][0]*m[2][1] - m[1][1] * m[2][0]);
-}
-
-// adjoint of matrix
-// Computes adjoint of matrix m, returning a
-// (Note that adjoint is just the transpose of the cofactor matrix)
-void adjoint3x3(float a[3][3], float m[3][3])
-{
-   a[0][0] = m[1][1]*m[2][2] - m[1][2]*m[2][1];
-   a[1][0] = - (m[1][0]*m[2][2] - m[2][0]*m[1][2]);
-   a[2][0] = m[1][0]*m[2][1] - m[1][1]*m[2][0];
-   a[0][1] = - (m[0][1]*m[2][2] - m[0][2]*m[2][1]);
-   a[1][1] = m[0][0]*m[2][2] - m[0][2]*m[2][0];
-   a[2][1] = - (m[0][0]*m[2][1] - m[0][1]*m[2][0]);
-   a[0][2] = m[0][1]*m[1][2] - m[0][2]*m[1][1];
-   a[1][2] = - (m[0][0]*m[1][2] - m[0][2]*m[1][0]);
-   a[2][2] = m[0][0]*m[1][1] - m[0][1]*m[1][0];
-}
-
-// compute adjoint of matrix and scale
-// Computes adjoint of matrix m, scales it by s, returning a
-void scaleAdjoint3x3(float a[3][3], float s, float m[3][3])
-{
-   a[0][0] = (s) * (m[1][1] * m[2][2] - m[1][2] * m[2][1]);
-   a[1][0] = (s) * (m[1][2] * m[2][0] - m[1][0] * m[2][2]);
-   a[2][0] = (s) * (m[1][0] * m[2][1] - m[1][1] * m[2][0]);
-
-   a[0][1] = (s) * (m[0][2] * m[2][1] - m[0][1] * m[2][2]);
-   a[1][1] = (s) * (m[0][0] * m[2][2] - m[0][2] * m[2][0]);
-   a[2][1] = (s) * (m[0][1] * m[2][0] - m[0][0] * m[2][1]);
-
-   a[0][2] = (s) * (m[0][1] * m[1][2] - m[0][2] * m[1][1]);
-   a[1][2] = (s) * (m[0][2] * m[1][0] - m[0][0] * m[1][2]);
-   a[2][2] = (s) * (m[0][0] * m[1][1] - m[0][1] * m[1][0]);
-}
-
-// inverse of matrix
-// Compute inverse of matrix a, returning determinant m and
-// inverse b
-void invert3x3(float b[3][3], float a[3][3])
-{
-   float tmp;
-   determinant3x3(& tmp, a);
-   tmp = 1.0 / (tmp);
-   scaleAdjoint3x3(b, tmp, a);
-}
-
-// skew matrix from vector
-void skew(float a[3][3], float v[3])
-{
-  a[0][1] = -v[2];
-  a[0][2] = v[1];
-  a[1][2] = -v[0];
-  a[1][0] = v[2];
-  a[2][0] = -v[1];
-  a[2][1] = v[0];
-  // set diagonal to 0
-  a[0][0] = 0.0;
-  a[1][1] = 0.0;
-  a[2][2] = 0.0;
-}
-
-void printMatrix3X3(float mmm[3][3])
-{
-   int i,j;
-   printf ("matrix mmm is \n");
-   if (mmm == NULL) {
-      printf (" Null \n");
-   } else {
-      for (i=0; i<3; i++) {
-         for (j=0; j<3; j++) {
-            printf ("%f ", mmm[i][j]);
-         }
-         printf (" \n");
-      }
-   }
-}
-
-void vecPrint(float a[3])
-{
-   float len;
-   vectorLength(& len, a);
-   printf(" a is %f %f %f length of a is %f \n", a[0], a[1], a[2], len);
-}
diff --git a/src/AltEst/algebra.h b/src/AltEst/algebra.h
deleted file mode 100644
index 382103e..0000000
--- a/src/AltEst/algebra.h
+++ /dev/null
@@ -1,96 +0,0 @@
-/*
-  algebra.h: This file contains a number of utilities useful for handling
-  3D vectors
-
-  This work is an adaptation from vvector.h, written by Linas Vepstras. The
-  original code can be found at:
-
-  https://github.com/markkilgard/glut/blob/master/lib/gle/vvector.h
-
-  HISTORY:
-  Written by Linas Vepstas, August 1991
-  Added 2D code, March 1993
-  Added Outer products, C++ proofed, Linas Vepstas October 1993
-  Adapted for altitude estimation tasks by Juan Gallostra June 2018
-  Separated .h, .cpp by Simon D. Levy July 2018
-*/
-
-#pragma once
-
-//#include <cmath>
-#include <math.h>
-
-// Copy 3D vector
-void copyVector(float b[3],float a[3]);
-
-
-// Vector difference
-void subtractVectors(float v21[3], float v2[3], float v1[3]);
-
-// Vector sum
-void sumVectors(float v21[3], float v2[3], float v1[3]);
-
-// scalar times vector
-void scaleVector(float c[3],float a, float b[3]);
-
-// accumulate scaled vector
-void accumulateScaledVector(float c[3], float a, float b[3]);
-
-// Vector dot product
-void dotProductVectors(float * c, float a[3], float b[3]);
-
-// Vector length
-void vectorLength(float * len, float a[3]);
-
-// Normalize vector
-void normalizeVector(float a[3]);
-
-// 3D Vector cross product yeilding vector
-void crossProductVectors(float c[3], float a[3], float b[3]);
-
-// initialize matrix
-void identityMatrix3x3(float m[3][3]);
-
-// matrix copy
-void copyMatrix3x3(float b[3][3], float a[3][3]);
-
-// matrix transpose
-void transposeMatrix3x3(float b[3][3], float a[3][3]);
-
-// multiply matrix by scalar
-void scaleMatrix3x3(float b[3][3], float s, float a[3][3]);
-
-// multiply matrix by scalar and add result to another matrix
-void scaleAndAccumulateMatrix3x3(float b[3][3], float s, float a[3][3]);
-
-// matrix product
-// c[x][y] = a[x][0]*b[0][y]+a[x][1]*b[1][y]+a[x][2]*b[2][y]+a[x][3]*b[3][y]
-void matrixProduct3x3(float c[3][3], float a[3][3], float b[3][3]);
-
-// matrix times vector
-void matrixDotVector3x3(float p[3], float m[3][3], float v[3]);
-
-// determinant of matrix
-// Computes determinant of matrix m, returning d
-void determinant3x3(float * d, float m[3][3]);
-
-// adjoint of matrix
-// Computes adjoint of matrix m, returning a
-// (Note that adjoint is just the transpose of the cofactor matrix);
-void adjoint3x3(float a[3][3], float m[3][3]);
-
-// compute adjoint of matrix and scale
-// Computes adjoint of matrix m, scales it by s, returning a
-void scaleAdjoint3x3(float a[3][3], float s, float m[3][3]);
-
-// inverse of matrix
-// Compute inverse of matrix a, returning determinant m and
-// inverse b
-void invert3x3(float b[3][3], float a[3][3]);
-
-// skew matrix from vector
-void skew(float a[3][3], float v[3]);
-
-void printMatrix3X3(float mmm[3][3]);
-
-void vecPrint(float a[3]);
diff --git a/src/AltEst/altitude.cpp b/src/AltEst/altitude.cpp
deleted file mode 100644
index 8838b36..0000000
--- a/src/AltEst/altitude.cpp
+++ /dev/null
@@ -1,58 +0,0 @@
-/*
-    altitude.cpp: Altitude estimation via barometer/accelerometer fusion
-*/
-
-#include "filters.h"
-#include "algebra.h"
-#include "altitude.h"
-
-AltitudeEstimator::AltitudeEstimator(float sigmaAccel, float sigmaGyro, float sigmaBaro,
-                                     float ca, float accelThreshold)
-:kalman(ca, sigmaGyro, sigmaAccel), complementary(sigmaAccel, sigmaBaro, accelThreshold)
-{
-      this->sigmaAccel = sigmaAccel;
-      this->sigmaGyro = sigmaGyro;
-      this->sigmaBaro = sigmaBaro;
-      this->ca = ca;
-      this->accelThreshold = accelThreshold;
-}
-
-void AltitudeEstimator::estimate(float accel[3], float gyro[3], float baroHeight, uint32_t timestamp)
-{
-        float deltat = (float)(timestamp-previousTime)/1000000.0f;
-        float verticalAccel = kalman.estimate(pastGyro,
-                                              pastAccel,
-                                              deltat);
-        complementary.estimate(& estimatedVelocity,
-                               & estimatedAltitude,
-                               baroHeight,
-                               pastAltitude,
-                               pastVerticalVelocity,
-                               pastVerticalAccel,
-                               deltat);
-        // update values for next iteration
-        copyVector(pastGyro, gyro);
-        copyVector(pastAccel, accel);
-        pastAltitude = estimatedAltitude;
-        pastVerticalVelocity = estimatedVelocity;
-        pastVerticalAccel = verticalAccel;
-        previousTime = timestamp;
-}
-
-float AltitudeEstimator::getAltitude()
-{
-        // return the last estimated altitude
-        return estimatedAltitude;
-}
-
-float AltitudeEstimator::getVerticalVelocity()
-{
-        // return the last estimated vertical velocity
-        return estimatedVelocity;
-}
-
-float AltitudeEstimator::getVerticalAcceleration()
-{
-        // return the last estimated vertical acceleration
-        return pastVerticalAccel;
-}
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
diff --git a/src/AltEst/filters.cpp b/src/AltEst/filters.cpp
deleted file mode 100644
index 7902065..0000000
--- a/src/AltEst/filters.cpp
+++ /dev/null
@@ -1,202 +0,0 @@
-/*
-   filters.cpp: Filter class implementations
- */
-
-//#include <cmath>
-#include <stdlib.h> // XXX eventually use fabs() instead of abs() ?
-
-#include "filters.h"
-
-void KalmanFilter::getPredictionCovariance(float covariance[3][3], float previousState[3], float deltat)
-{
-    // required matrices for the operations
-    float sigma[3][3];
-    float identity[3][3];
-    identityMatrix3x3(identity);
-    float skewMatrix[3][3];
-    skew(skewMatrix, previousState);
-    float tmp[3][3];
-    // Compute the prediction covariance matrix
-    scaleMatrix3x3(sigma, pow(sigmaGyro, 2), identity);
-    matrixProduct3x3(tmp, skewMatrix, sigma);
-    matrixProduct3x3(covariance, tmp, skewMatrix);
-    scaleMatrix3x3(covariance, -pow(deltat, 2), covariance);
-}
-
-void KalmanFilter::getMeasurementCovariance(float covariance[3][3])
-{
-    // required matrices for the operations
-    float sigma[3][3];
-    float identity[3][3];
-    identityMatrix3x3(identity);
-    float norm;
-    // Compute measurement covariance
-    scaleMatrix3x3(sigma, pow(sigmaAccel, 2), identity);
-    vectorLength(& norm, previousAccelSensor);
-    scaleAndAccumulateMatrix3x3(sigma, (1.0/3.0)*pow(ca, 2)*norm, identity);
-    copyMatrix3x3(covariance, sigma);
-}
-
-void KalmanFilter::predictState(float predictedState[3], float gyro[3], float deltat)
-{
-    // helper matrices
-    float identity[3][3];
-    identityMatrix3x3(identity);
-    float skewFromGyro[3][3];
-    skew(skewFromGyro, gyro);
-    // Predict state
-    scaleAndAccumulateMatrix3x3(identity, -deltat, skewFromGyro);
-    matrixDotVector3x3(predictedState, identity, currentState);
-    normalizeVector(predictedState);
-}
-
-void KalmanFilter::predictErrorCovariance(float covariance[3][3], float gyro[3], float deltat)
-{
-    // required matrices
-    float Q[3][3];
-    float identity[3][3];
-    identityMatrix3x3(identity);
-    float skewFromGyro[3][3];
-    skew(skewFromGyro, gyro);
-    float tmp[3][3];
-    float tmpTransposed[3][3];
-    float tmp2[3][3];
-    // predict error covariance
-    getPredictionCovariance(Q, currentState, deltat);
-    scaleAndAccumulateMatrix3x3(identity, -deltat, skewFromGyro);
-    copyMatrix3x3(tmp, identity);
-    transposeMatrix3x3(tmpTransposed, tmp);
-    matrixProduct3x3(tmp2, tmp, currErrorCovariance);
-    matrixProduct3x3(covariance, tmp2, tmpTransposed);
-    scaleAndAccumulateMatrix3x3(covariance, 1.0, Q);
-}
-
-void KalmanFilter::updateGain(float gain[3][3], float errorCovariance[3][3])
-{
-    // required matrices
-    float R[3][3];
-    float HTransposed[3][3];
-    transposeMatrix3x3(HTransposed, H);
-    float tmp[3][3];
-    float tmp2[3][3];
-    float tmp2Inverse[3][3];
-    // update kalman gain
-    // P.dot(H.T).dot(inv(H.dot(P).dot(H.T) + R))
-    getMeasurementCovariance(R);
-    matrixProduct3x3(tmp, errorCovariance, HTransposed);
-    matrixProduct3x3(tmp2, H, tmp);
-    scaleAndAccumulateMatrix3x3(tmp2, 1.0, R);
-    invert3x3(tmp2Inverse, tmp2);
-    matrixProduct3x3(gain, tmp, tmp2Inverse);
-}
-
-void KalmanFilter::updateState(float updatedState[3], float predictedState[3], float gain[3][3], float accel[3])
-{
-    // required matrices
-    float tmp[3];
-    float tmp2[3];
-    float measurement[3];
-    scaleVector(tmp, ca, previousAccelSensor);
-    subtractVectors(measurement, accel, tmp);
-    // update state with measurement
-    // predicted_state + K.dot(measurement - H.dot(predicted_state))
-    matrixDotVector3x3(tmp, H, predictedState);
-    subtractVectors(tmp, measurement, tmp);
-    matrixDotVector3x3(tmp2, gain, tmp);
-    sumVectors(updatedState, predictedState, tmp2);
-    normalizeVector(updatedState);
-}
-
-void KalmanFilter::updateErrorCovariance(float covariance[3][3], float errorCovariance[3][3], float gain[3][3])
-{
-    // required matrices
-    float identity[3][3];
-    identityMatrix3x3(identity);
-    float tmp[3][3];
-    float tmp2[3][3];
-    // update error covariance with measurement
-    matrixProduct3x3(tmp, gain, H);
-    matrixProduct3x3(tmp2, tmp, errorCovariance);
-    scaleAndAccumulateMatrix3x3(identity, -1.0, tmp2);
-    copyMatrix3x3(covariance, tmp2);
-}
-
-
-KalmanFilter::KalmanFilter(float ca, float sigmaGyro, float sigmaAccel)
-{
-    this->ca = ca;
-    this->sigmaGyro = sigmaGyro;
-    this->sigmaAccel = sigmaAccel;
-}
-
-float KalmanFilter::estimate(float gyro[3], float accel[3], float deltat)
-{
-    float predictedState[3];
-    float updatedState[3];
-    float errorCovariance[3][3];
-    float updatedErrorCovariance[3][3];
-    float gain[3][3];
-    float accelSensor[3];
-    float tmp[3];
-    float accelEarth;
-    scaleVector(accel, 9.81, accel); // Scale accel readings since they are measured in gs
-    // perform estimation
-    // predictions
-    predictState(predictedState, gyro, deltat);
-    predictErrorCovariance(errorCovariance, gyro, deltat);
-    // updates
-    updateGain(gain, errorCovariance);
-    updateState(updatedState, predictedState, gain, accel);
-    updateErrorCovariance(updatedErrorCovariance, errorCovariance, gain);
-    // Store required values for next iteration
-    copyVector(currentState, updatedState);
-    copyMatrix3x3(currErrorCovariance, updatedErrorCovariance);
-    // return vertical acceleration estimate
-    scaleVector(tmp, 9.81, updatedState);
-    subtractVectors(accelSensor, accel, tmp);
-    copyVector(previousAccelSensor, accelSensor);
-    dotProductVectors(& accelEarth, accelSensor, updatedState);
-    return accelEarth;
-}
-
-
-float ComplementaryFilter::ApplyZUPT(float accel, float vel)
-{
-    // first update ZUPT array with latest estimation
-    ZUPT[ZUPTIdx] = accel;
-    // and move index to next slot
-    uint8_t nextIndex = (ZUPTIdx + 1) % ZUPT_SIZE;
-    ZUPTIdx = nextIndex;
-    // Apply Zero-velocity update
-    for (uint8_t k = 0; k < ZUPT_SIZE; ++k) {
-        if (abs(ZUPT[k]) > accelThreshold) return vel;
-    }
-    return 0.0;
-}
-
-
-ComplementaryFilter::ComplementaryFilter(float sigmaAccel, float sigmaBaro, float accelThreshold)
-{
-    // Compute the filter gain
-    gain[0] = sqrt(2 * sigmaAccel / sigmaBaro);
-    gain[1] = sigmaAccel / sigmaBaro;
-    // If acceleration is below the threshold the ZUPT counter
-    // will be increased
-    this->accelThreshold = accelThreshold;
-    // initialize zero-velocity update
-    ZUPTIdx = 0;
-    for (uint8_t k = 0; k < ZUPT_SIZE; ++k) {
-        ZUPT[k] = 0;
-    }
-}
-
-void ComplementaryFilter::estimate(float * velocity, float * altitude, float baroAltitude,
-        float pastAltitude, float pastVelocity, float accel, float deltat)
-{
-    // Apply complementary filter
-    *altitude = pastAltitude + deltat*(pastVelocity + (gain[0] + gain[1]*deltat/2)*(baroAltitude-pastAltitude))+
-        accel*pow(deltat, 2)/2;
-    *velocity = pastVelocity + deltat*(gain[1]*(baroAltitude-pastAltitude) + accel);
-    // Compute zero-velocity update
-    *velocity = ApplyZUPT(accel, *velocity);
-}
diff --git a/src/AltEst/filters.h b/src/AltEst/filters.h
deleted file mode 100644
index 2e316a3..0000000
--- a/src/AltEst/filters.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/*
-   filters.h: Filter class declarations
- */
-
-#pragma once
-
-//#include <cmath>
-#include <math.h>
-#include <stdint.h>
-
-#include "algebra.h"
-
-class KalmanFilter {
-  private:
-    float currentState[3] = {0, 0, 1};
-    float currErrorCovariance[3][3] = {{100, 0, 0},{0, 100, 0},{0, 0, 100}};
-    float H[3][3] = {{9.81, 0, 0}, {0, 9.81, 0}, {0, 0, 9.81}};
-    float previousAccelSensor[3] = {0, 0, 0};
-    float ca;
-    float sigmaGyro;
-    float sigmaAccel;
-
-    void getPredictionCovariance(float covariance[3][3], float previousState[3], float deltat);
-
-    void getMeasurementCovariance(float covariance[3][3]);
-
-    void predictState(float predictedState[3], float gyro[3], float deltat);
-
-    void predictErrorCovariance(float covariance[3][3], float gyro[3], float deltat);
-
-    void updateGain(float gain[3][3], float errorCovariance[3][3]);
-
-    void updateState(float updatedState[3], float predictedState[3], float gain[3][3], float accel[3]);
-
-    void updateErrorCovariance(float covariance[3][3], float errorCovariance[3][3], float gain[3][3]);
-
-  public:
-
-    KalmanFilter(float ca, float sigmaGyro, float sigmaAccel);
-
-    float estimate(float gyro[3], float accel[3], float deltat);
-
-}; // Class KalmanFilter
-
-class ComplementaryFilter {
-
-  private:
-
-    // filter gain
-    float gain[2];
-    // Zero-velocity update
-    float accelThreshold;
-    static const uint8_t ZUPT_SIZE = 12;
-    uint8_t ZUPTIdx;
-    float   ZUPT[ZUPT_SIZE];
-
-    float ApplyZUPT(float accel, float vel);
-
-  public:
-
-    ComplementaryFilter(float sigmaAccel, float sigmaBaro, float accelThreshold);
-
-    void estimate(float * velocity, float * altitude, float baroAltitude,
-                  float pastAltitude, float pastVelocity, float accel, float deltat);
-}; // Class ComplementaryFilter