Raspberry Pi Pico (#12)

* 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?

* Conversion to Raspberry Pi Pico Build System; Removed Beaglebone
specific code; Simple blinking example in ADS source file; builds for
Pico W

* Rearranged build so dependent upon cmake file already existing in pico-sdk; current executable prints current altitude, velocity, and time taken to read and calculate said values; ~320 us to do so

* Altimeter interrupt callback for Pad to Boost State; dummy templates for other callbacks with comments describing potential implementation details

* Altimeter interrupts relatively finished; need to test with vacuum chamber to verify behavior

* Established interrupt pins as pullup and active-low; adjusted callback functions to properly use function pointers; still need to verify interrupt system with vacuum chamber

* Removed weird artifact in .gitignore, adjust CMakeLists to auto pull pico sdk, added Dockerfile

* added Docker dev container file

* modified CMakeLists to auto pull sdk if not already downloaded, add build.sh script, fixed Dockerfile

* added bno055 support

* changed bno055 lin accel struct to use float instead of double

* added bno055 support not tested, but compiles, fixed CMakLists to before I messed with it

* added absolute quaternion output from bno055

* Added Euler and aboslute linear accelration

* Flash implementation for data logging; each log entry is 32 bytes long

* added base pwm functions and started on apogee detection

* State machine verified functional with logging capabilities; currently on same core

* Ooops missed double define, renamed LOOP_HZ to LOOP_PERIOD; State machine functional after merge still

* Simple test program to see servo PWM range; logging with semaphores for safe multithreading

* Kalman filters generously provided from various sources for temporary replacement; minimum deployment 30 percent; state machine functionality restored; multithreading logging verified; altimeter broke and replaced

* Stop logging on END state; provide deployment function with AGL instead of ASL altitude

* Various minimal changes; Flash size from 1MB to 8MB; M1939 to M2500T burn time; pin assignments for new PCB; External Status LED to Internal Status LED

---------

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

8 files changed, 1099 insertions, 0 deletions

diff --git a/src/unused/actuationPlan.cpp b/src/unused/actuationPlan.cpp
new file mode 100644
index 0000000..a987478
--- /dev/null
+++ b/src/unused/actuationPlan.cpp
@@ -0,0 +1,60 @@
+#include "../include/actuationPlan.hpp"
+
+ActuationPlan::ActuationPlan() {}
+
+ActuationPlan::ActuationPlan(SurfaceFitModel sFitModel) : sFitModel(sFitModel) {
+
+}
+
+
+void ActuationPlan::runPlan(Vehicle& rocket) {
+
+
+    if (rocket.imuReadFail || rocket.altiReadFail) {
+        rocket.deployment_angle = deploy_percentage_to_angle(0); // No fin deployment
+    }
+
+    rocket.fail_time = time(nullptr);
+
+    // 2024 Mission---------------------------------------------------------------------
+    if (rocket.status == GLIDE) {
+
+        // Fin deployment based on current drag coefficient value
+        try {
+            double cd = sFitModel.getFit(rocket.filtered_velocity, rocket.filtered_altitude);
+            cd = std::min(std::max(0.0, cd), 100.0);
+            rocket.deployment_angle = deploy_percentage_to_angle(cd);
+        }
+
+        // Full deployment during coasting
+        catch (...) {
+            rocket.deployment_angle = deploy_percentage_to_angle(0);
+            
+            if ((time(nullptr) - rocket.deploy_time) > 2 && (time(nullptr) - rocket.deploy_time) < 7) {
+                rocket.deployment_angle = deploy_percentage_to_angle(100);
+            }
+        }        
+    }
+
+    else if (rocket.status == APOGEE) {
+
+        rocket.deployment_angle = deploy_percentage_to_angle(50);
+    }
+
+    else {
+
+        rocket.deploy_time = time(nullptr);
+    }
+    // End 2024 Mission------------------------------------------------------------------
+}
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/unused/ads.cpp b/src/unused/ads.cpp
new file mode 100644
index 0000000..5484970
--- /dev/null
+++ b/src/unused/ads.cpp
@@ -0,0 +1,286 @@
+#include "../include/ads.hpp"
+
+
+// Private----------------------------------------------------------------------
+void ADS::logSummary() {
+    
+    std::string output_string = "" + state_for_log[rocket.status];
+
+    if (!rocket.altiInitFail && !rocket.altiReadFail) {
+
+        output_string += format_data(" ", rocket.filtered_altitude, 3);     
+    }
+
+    output_string += format_data(" ", rocket.deployment_angle, 2);    
+
+    if (!rocket.imuInitFail && !rocket.imuReadFail) {
+
+        output_string += format_data(" ", rocket.acceleration[2], 2);    
+        output_string += format_data(" ", rocket.filtered_velocity, 2);    
+    }
+
+    Logger::Get().log(output_string);
+}
+
+
+void ADS::updateOnPadAltitude() {
+
+    std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+
+    double avg_alt = 0;
+    double alt_read_count = 0;
+
+    while (alt_read_count < COUNT_LIMIT) {
+        
+        altimeter.getData(&rocket.current_altitude);
+        alt_read_count++;
+        avg_alt = (avg_alt * (alt_read_count - 1) + rocket.current_altitude) / alt_read_count;
+    }
+ 
+    Logger::Get().log(format_data("pad altitude initialization complete - ", avg_alt, 3));
+    rocket.ON_PAD_altitude = avg_alt;
+}
+
+
+void ADS::updateSensorData() {
+
+    if (!rocket.imuInitFail) {
+        
+        try {
+            imu.getData((void*)&rocket);
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.imuReadFail = true;
+        }
+    }  
+
+    rocket.previous_altitude = rocket.current_altitude; // Why was this placed here????
+    
+    if (!rocket.altiInitFail) {
+        
+        try {
+            altimeter.getData((void*)&rocket.current_altitude);
+            if (rocket.ON_PAD_fail) {
+                rocket.ON_PAD_altitude = rocket.current_altitude;
+                rocket.ON_PAD_fail = false;
+            }
+
+            rocket.altiReadFail = false;
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.altiReadFail = true;
+        }
+    }
+}
+
+
+void ADS::updateRocketState() {
+
+    // Filter sensor data
+    VectorXf control_input(1);
+    VectorXf measurement(1);
+    control_input << rocket.acceleration[2];
+    measurement << rocket.current_altitude;
+    VectorXf filtered = kf.run(control_input, measurement, rocket.dt);
+    rocket.filtered_altitude = filtered(0);
+    rocket.filtered_velocity = filtered(1);
+
+    if (rocket.apogee_altitude < rocket.filtered_altitude) {
+        rocket.apogee_altitude = rocket.filtered_altitude;
+    }
+
+    // (VEHICLE ON PAD)
+    if (rocket.status == ON_PAD) {
+
+        // If launch detected
+        if (rocket.acceleration[2] >= BOOST_ACCEL_THRESH * G_0 
+            && rocket.filtered_altitude >= BOOST_HEIGHT_THRESH + rocket.ON_PAD_altitude) {
+            Logger::Get().log(format_data("LOM at -- ", (double)(rocket.liftoff_time - rocket.start_time), 3));
+        }
+
+        if (TEST_MODE && time(nullptr) - rocket.start_time >= 15) {
+            Logger::Get().log(format_data("TEST LOM at -- ", (double)(rocket.liftoff_time - rocket.start_time), 3));
+        }
+
+        if (time(nullptr) - rocket.relog_time > 2*60*60 
+            && rocket.status == ON_PAD) {
+            std::cout << "OverWR Success" << std::endl;
+        }
+    }
+
+    // (VEHICLE BOOSTING)
+    else if (rocket.status == BOOST) {
+
+        if (rocket.acceleration[2] <= GLIDE_ACCEL_THRESH * G_0 
+            || time(nullptr) - rocket.liftoff_time >= TIME_BO) {
+            rocket.status = GLIDE;
+        }
+        
+    }
+
+    // (VEHICLE IN GLIDE)
+    else if (rocket.status == GLIDE) {
+
+        if (rocket.filtered_altitude < rocket.apogee_altitude - APOGEE_FSM_CHANGE 
+            || time(nullptr) - rocket.liftoff_time >= TIME_BO + TIME_APO) {
+            rocket.status = APOGEE;
+            Logger::Get().log(format_data("APO: ", (double)(rocket.apogee_altitude), 2));
+        }
+    }
+
+    // (VEHICLE AT APOGEE)
+    else if (rocket.status == APOGEE) {
+
+        if (rocket.filtered_altitude <= FSM_DONE_SURFACE_ALTITUDE + rocket.ON_PAD_altitude) {
+            rocket.status = DONE;
+            return;
+        }
+    }
+}
+
+
+// Public----------------------------------------------------------------------
+ADS::ADS(ActuationPlan plan) : plan(plan) {
+
+    rocket.status = ON_PAD;
+
+    rocket.apogee_altitude = 0;
+    rocket.previous_altitude = 0;
+    rocket.current_altitude = 0;
+    rocket.filtered_altitude = 0;
+
+    rocket.filtered_velocity = 0;
+
+    rocket.duty_span = DUTY_MAX - DUTY_MIN;
+    rocket.deployment_angle = deploy_percentage_to_angle(INIT_DEPLOYMENT); 
+
+    rocket.dt = 0.1;
+
+    rocket.imuInitFail = false;
+    rocket.imuReadFail = false;
+    rocket.altiInitFail = false;
+    rocket.altiReadFail = false;
+
+    rocket.ON_PAD_altitude = 0;
+    rocket.ON_PAD_fail = false;
+
+    rocket.start_time = time(nullptr);
+    rocket.fail_time = rocket.start_time;
+    rocket.relog_time = rocket.start_time;
+    rocket.led_time = rocket.start_time;
+
+    imu = IMUSensor();
+    altimeter = AltimeterSensor();
+    motor = Motor();
+    kf = KalmanFilter(2, 1, 1, rocket.dt);
+
+    Logger::Get().openLog(LOG_FILENAME);
+    
+    motor.init(&rocket);
+
+    imu.init(nullptr);
+    altimeter.init(nullptr);
+
+    if (TEST_MODE) {
+
+        Logger::Get().log("TEST Record Start --");
+    }
+}
+
+
+
+void ADS::run() {
+
+    if (!rocket.altiInitFail) {
+        try {
+            updateOnPadAltitude();
+        }
+
+        catch (...) {
+            std::exception_ptr e = std::current_exception();
+            Logger::Get().logErr(e.__cxa_exception_type()->name());
+            rocket.ON_PAD_fail = true;
+        }
+    }
+
+    rocket.loop_time = time(nullptr);
+    while (rocket.status != DONE) {
+
+        updateSensorData();
+
+        if (!rocket.imuInitFail && !rocket.altiInitFail) {
+
+            updateRocketState();
+
+            // Run the Actuation Plan----------------------------------
+            plan.runPlan(rocket);
+
+            if (rocket.imuReadFail || rocket.altiReadFail) {
+
+                if (rocket.imuReadFail) {
+                    imu.init(nullptr); // Restart
+                    Logger::Get().log("Altimeter reset attempt");
+                }
+
+                if (rocket.altiReadFail) {
+                    altimeter.init(nullptr); // Restart
+                    Logger::Get().log("IMU reset attempt");
+                }
+            }
+        }
+
+        // Altimeter or IMU setup failed. Attempt to reinitialize
+        else {
+
+            if (time(nullptr) - rocket.fail_time >= TIME_END) {
+                rocket.status = DONE;
+            }
+
+            if (rocket.altiInitFail || rocket.altiReadFail) {
+                imu.init(nullptr); // Restart
+                Logger::Get().log("Altimeter reset attempt");
+            }
+
+            if (rocket.imuInitFail || rocket.imuReadFail) {
+                altimeter.init(nullptr); // Restart
+                Logger::Get().log("IMU reset attempt");
+            }
+
+            rocket.deployment_angle = deploy_percentage_to_angle(INIT_DEPLOYMENT);
+        }
+
+        // Actuate Servos
+        motor.writeData(&rocket);
+
+        logSummary();
+
+        // Blink Beaglebone LED 1
+        if (time(nullptr) - rocket.led_time > LED_GAP_TIME) {
+            led_out(&rocket);
+        }
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1));
+        rocket.dt = time(nullptr) - rocket.loop_time;
+        rocket.loop_time = time(nullptr);
+    }
+
+    Logger::Get().closeLog();
+    std::cout << "Done" << std::endl;
+}
+
+
+
+
+
+
+
+
+
+
+
diff --git a/src/unused/logger.cpp b/src/unused/logger.cpp
new file mode 100644
index 0000000..a857be8
--- /dev/null
+++ b/src/unused/logger.cpp
@@ -0,0 +1,132 @@
+#include "../include/logger.hpp"
+
+// Private----------------------------------------------------------------------
+std::string Logger::getDate() {
+
+    t = time(nullptr);
+    now = localtime(&t);
+    return "(" + days[now->tm_wday] + " " + months[now->tm_mon] + " " 
+        + std::to_string(now->tm_mday) + " " + std::to_string(now->tm_year + 1900) + ")";
+}
+
+std::string Logger::getTime() {
+
+    t = time(nullptr);
+    now = localtime(&t);
+    std::string hour = std::to_string(now->tm_hour);
+    std::string min = std::to_string(now->tm_min);
+    std::string sec = std::to_string(now->tm_sec);
+    //string hour = "0" + to_string(now->tm_hour);
+
+    if (now->tm_hour < 10) {
+        hour = "0" + std::to_string(now->tm_hour);
+    }
+
+    if (now->tm_min < 10) {
+        min = "0" + std::to_string(now->tm_min);
+    }
+
+    if (now->tm_sec < 10) {
+        sec = "0" + std::to_string(now->tm_sec);
+    }
+
+    return hour + ":" + min + 
+        ":" + sec;
+}
+
+
+// Public----------------------------------------------------------------------
+Logger& Logger::Get() {
+
+    static Logger loggerSingleton;
+    return loggerSingleton;
+}
+
+//Logger Logger::loggerSingleton;
+
+
+bool Logger::openLog(std::string _filename) {
+
+    filename = _filename;
+    
+    if (file_open) {
+        return false;
+    }
+    
+    file.open(filename, std::ios::in | std::ios::out | std::ios::app);
+
+    if (!file) {
+        return false;
+    }
+
+    file_open = true;
+    std::string date = getDate();
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << "Log Start---- " << date << std::endl;
+
+    return true;
+}
+
+
+void Logger::closeLog() {
+
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << "Log End----\n\n";
+
+    file.close();
+    file_open = false;
+}
+
+
+bool Logger::log(std::string data) {
+
+    if (!file) {
+        return false;
+    }
+
+    if (!file_open) {
+        return false;
+    }
+    std::string timestamp = getTime();
+    file << timestamp << infoTag << data << std::endl;
+    return true;
+}
+
+bool Logger::logErr(std::string data) {
+
+    if (!file) {
+        return false;
+    }
+
+    if (!file_open) {
+        return false;
+    }
+
+    std::string timestamp = getTime();
+    file << timestamp << errorTag << data << std::endl;
+    return true;
+}
+
+
+bool Logger::printLog() {
+
+    if (file.is_open()) {
+        std::cout << "Log still open. Please close Log." << std::endl;
+        return false;
+    }
+
+    file.open(filename, std::ios::in);
+
+    if (!file.is_open()) {
+        return false;
+    }
+
+    std::string line;
+    while(getline(file, line)) {
+        std::cout << line << std::endl;
+    }
+
+    file.close();
+
+    return true;
+}
diff --git a/src/unused/motor.cpp b/src/unused/motor.cpp
new file mode 100644
index 0000000..84785a9
--- /dev/null
+++ b/src/unused/motor.cpp
@@ -0,0 +1,46 @@
+#include "../include/motor.hpp"
+
+
+
+Motor::Motor() {
+
+
+}
+
+bool Motor::init(void* data) {
+
+    Vehicle *vehicle = (Vehicle *) data;
+    double duty = 100 - ((MIN_ANGLE / 180) * vehicle->duty_span + DUTY_MIN);
+
+    // Initialize stuff
+    // .....
+    // .....
+
+
+    data = (void*) vehicle; // Is this necessary?
+    return true;
+}
+
+
+bool Motor::writeData(void* data) {
+
+    Vehicle *vehicle = (Vehicle *) data;
+    double duty = 100 - ((vehicle->deployment_angle / 180) * vehicle->duty_span + DUTY_MIN);
+
+    // Send the Data somewhere
+    // ..... Pin
+    // ..... Duty
+    // ..... PWM frequency Hz
+    // ..... Polarity
+    
+
+    if (1 == 2) {
+        Logger::Get().logErr("Some type of Error");
+        return false;
+    }
+
+    data = (void*) vehicle; // Is this necessary?
+    return true;
+}
+
+
diff --git a/src/unused/rocketUtils.cpp b/src/unused/rocketUtils.cpp
new file mode 100644
index 0000000..45fcfc3
--- /dev/null
+++ b/src/unused/rocketUtils.cpp
@@ -0,0 +1,35 @@
+#include "../include/rocketUtils.hpp"
+
+double deploy_percentage_to_angle(double percentage) {
+
+    return (MAX_ANGLE - MIN_ANGLE) / 100.0 * percentage + MIN_ANGLE;
+}
+
+
+std::string format_data(std::string prefix, double data, int precision) {
+
+    std::stringstream stream;
+    stream << std::fixed << std::setprecision(precision) << data;
+    std::string s = stream.str();
+    return prefix + s;
+}
+
+bool led_out(Vehicle *vehicle) {
+
+    std::ofstream file;
+    file.open(LED_FILENAME);
+    if (!file.is_open()) {
+        return false;
+    }
+
+    file << std::to_string(vehicle->led_brightness);
+    file.close();
+
+    vehicle->led_time = time(nullptr);
+    vehicle->led_brightness = (vehicle->led_brightness + 1) % 2;
+
+    return true;
+}
+
+std::string state_for_log[5] = {"ON_PAD", "BOOST", "GLIDE", "APOGEE", "DONE"};
+	
\ No newline at end of file
diff --git a/src/unused/sensorAltimeter.cpp b/src/unused/sensorAltimeter.cpp
new file mode 100644
index 0000000..8ec065d
--- /dev/null
+++ b/src/unused/sensorAltimeter.cpp
@@ -0,0 +1,115 @@
+#include "sensorAltimeter.hpp"
+
+AltimeterSensor::AltimeterSensor(std::string I2C_FILE_in) {
+    I2C_FILE = I2C_FILE_in;
+    deviceAddress = 0x60;
+}
+
+//Startup routine copied from Adafruit library, as is most of the data getting methods
+//Adaptation is largely editing for readability and porting from Adafruit_I2C to BBB I2C (sensorI2C.hpp implementation)
+bool AltimeterSensor::init() {
+
+    // Vehicle *vehicle = (Vehicle *) data;
+    // // Do Stuff 
+    // data = (void*) vehicle;
+
+    //Pass file string from parent to setup function, actual I2C bus gets stored internally.
+    setupI2C(I2C_FILE);
+
+    // Check a register with a hard-coded value to see if comms are working
+    uint8_t whoami = readSingleRegister(MPL3115A2_WHOAMI);
+    if (whoami != 0xC4) {
+        fprintf(stderr, "MPL INITIALIZATION DID NOT PASS WHOAMI DEVICE CHECK!, got: %X, expected: 0xC4\n", whoami);
+        return false;
+    }
+
+    //Send device dedicated reset byte to CTRL1 Register
+    writeRegister(MPL3115A2_CTRL_REG1, MPL3115A2_CTRL_REG1_RST);
+    //Wait for reset to wipe its way through device and reset appropriate bit of CTRL1 Register
+    while (readSingleRegister(MPL3115A2_CTRL_REG1) & MPL3115A2_CTRL_REG1_RST);
+
+     //Set oversampling (?) and altitude mode by default
+    currentMode = MPL3115A2_ALTIMETER;
+    ctrl_reg1.reg = MPL3115A2_CTRL_REG1_OS128 | MPL3115A2_CTRL_REG1_ALT;
+    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+
+    //Configure data return types, I don't really understand this chunk but Adafruit does it this way so we will too I guess
+    writeRegister(MPL3115A2_PT_DATA_CFG, MPL3115A2_PT_DATA_CFG_TDEFE |
+                                    MPL3115A2_PT_DATA_CFG_PDEFE |
+                                    MPL3115A2_PT_DATA_CFG_DREM);
+
+    return true;
+}
+
+//EXPECTED THAT USER WILL NEVER SET MODE TO PRESSURE AFTER INITIAL CONFIGURATION
+void AltimeterSensor::setMode(mpl3115a2_mode_t mode) {
+    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
+    ctrl_reg1.bit.ALT = mode;
+    writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+    currentMode = mode;
+}
+
+double AltimeterSensor::getAltitude() {
+    //Request new data reading
+    requestOneShotReading();
+    //If new data is available, read it and store it to internal fields
+    if (isNewDataAvailable()) {
+        //Logger flag here for new data?
+        updateCurrentDataBuffer();
+    }
+    //Return internal field, whether updated or not
+    return internalAltitude;
+}
+
+double AltimeterSensor::getTemperature() {
+    //Request new data reading
+    requestOneShotReading();
+    //If new data is available, read it and store it to internal fields
+    if (isNewDataAvailable()) {
+        //Logger flag here for new data?
+        updateCurrentDataBuffer();
+    }
+    //Return internal field, whether updated or not
+    return internalTemperature;
+}
+
+void AltimeterSensor::requestOneShotReading() {
+    //Request current status of oneshot reading
+    ctrl_reg1.reg = readSingleRegister(MPL3115A2_CTRL_REG1);
+    //If oneshot is complete, proc a new one; if it isn't, do nothing.
+    //THIS PRODUCES DUPLICATE DATA IF READING REQUESTS FROM BB DON'T LINE UP WITH READING COMPLETION ON SENSOR.
+    if (!ctrl_reg1.bit.OST) {
+        // initiate one-shot measurement
+        ctrl_reg1.bit.OST = 1;
+        writeRegister(MPL3115A2_CTRL_REG1, ctrl_reg1.reg);
+    }
+}
+
+bool AltimeterSensor::isNewDataAvailable() {
+    //Returns PTDR bit of status register, 1 if new data for Temp OR Alt/Pres is available
+    //There *are* registers available for exclusively temperature *or* pressure/altitude, but 
+    //for simplicity's sake we'll use the combined one for now.
+    return ((readSingleRegister(MPL3115A2_REGISTER_STATUS) & MPL3115A2_REGISTER_STATUS_PTDR) != 0);
+}
+
+//Adafruit returns specific field based on input parameter, this method updates all internal fields at once instead
+void AltimeterSensor::updateCurrentDataBuffer() {
+    uint8_t buffer[5] = {MPL3115A2_REGISTER_PRESSURE_MSB, 0, 0, 0, 0};
+    readMultipleRegisters(MPL3115A2_REGISTER_PRESSURE_MSB, 5);
+
+    //Pressure is no longer used, assumed rocket is only logging altitude
+    // uint32_t pressure;
+    // pressure = uint32_t(buffer[0]) << 16 | uint32_t(buffer[1]) << 8 |
+    //         uint32_t(buffer[2]);
+    // return double(pressure) / 6400.0;
+
+    //Altitude Conversion
+    int32_t alt;
+    alt = uint32_t(buffer[0]) << 24 | uint32_t(buffer[1]) << 16 |
+        uint32_t(buffer[2]) << 8;
+    internalAltitude = double(alt) / 65536.0;
+
+    int16_t t;
+    t = uint16_t(buffer[3]) << 8 | uint16_t(buffer[4]);
+    internalTemperature = double(t) / 256.0;
+}
diff --git a/src/unused/sensorIMU.cpp b/src/unused/sensorIMU.cpp
new file mode 100644
index 0000000..941ea35
--- /dev/null
+++ b/src/unused/sensorIMU.cpp
@@ -0,0 +1,385 @@
+#include "../include/sensorIMU.hpp"
+
+IMUSensor::IMUSensor(std::string I2C_FILE) {
+    this -> I2C_FILE = I2C_FILE;
+}
+
+bool IMUSensor::init(void* data) {
+
+    //I2C_File passed on object creation, stored in sensorI2C parent
+    setupI2C(I2C_FILE);
+    
+    //In the adafruit code there's a big step of waiting for timeout and connection stuff for up to a full second
+    //I don't do that here because the BBB takes like 17 years to boot so we'll just hope it goes faster than that
+
+    //Sanity check for factory device ID 
+    uint8_t id = readSingleRegister(BNO055_CHIP_ID_ADDR);
+    if (id != BNO055_ID) {
+        fprintf(stderr, "DEVICE ID DID NOT PASS SANITY CHECK FOR BNO IMU!");
+        return false;
+    }
+
+    //Set default operating mode of IMU into config from startup (will be set properly after config phase)
+    setModeHard(OPERATION_MODE_CONFIG);
+
+    //Writes 1 to the system reset bit in the trigger register
+    writeRegister(BNO055_SYS_TRIGGER_ADDR, 0x20);
+    //Wait for reset to complete by doing sanity check again
+    while (readSingleRegister(BNO055_CHIP_ID_ADDR) != BNO055_ID);
+
+    //Set power mode for sensor
+    writeRegister(BNO055_PWR_MODE_ADDR, POWER_MODE_NORMAL);
+
+    //Sensor chip uses two "pages" to multiplex register values
+    //Page 0 contains the sensor data (not configuration), which is what we want
+    writeRegister(BNO055_PAGE_ID_ADDR, 0);
+
+    //Genuinely no idea why Adafruit does this, ensuring all triggers are off before mode config I guess
+    writeRegister(BNO055_SYS_TRIGGER_ADDR, 0x0);
+
+    setModeTemp(default_mode);
+
+    return true;
+}
+
+//Sets mode so it can be undone for temporary changes, like operation setting
+void IMUSensor::setModeTemp(adafruit_bno055_opmode_t mode) {
+    currentMode = mode;
+    writeRegister(BNO055_OPR_MODE_ADDR, currentMode);
+}
+
+//Sets mode *AND* internal state variable
+void IMUSensor::setModeTemp(adafruit_bno055_opmode_t mode) {
+    writeRegister(BNO055_OPR_MODE_ADDR, currentMode);
+}
+
+adafruit_bno055_opmode_t IMUSensor::getMode() {
+    return (adafruit_bno055_opmode_t)readSingleRegister(BNO055_OPR_MODE_ADDR);
+}
+
+imu::Vector<3> IMUSensor::getVector(adafruit_vector_type_t vector_type) {
+    imu::Vector<3> xyz;
+    uint8_t buffer[6] = readMultipleRegisters((adafruit_bno055_reg_t)vector_type, 6);
+
+    int16_t x, y, z;
+    x = y = z = 0;
+
+    /* Read vector data (6 bytes) */
+    x = ((int16_t)buffer[0]) | (((int16_t)buffer[1]) << 8);
+    y = ((int16_t)buffer[2]) | (((int16_t)buffer[3]) << 8);
+    z = ((int16_t)buffer[4]) | (((int16_t)buffer[5]) << 8);
+
+    /*!
+    * Convert the value to an appropriate range (section 3.6.4)
+    * and assign the value to the Vector type
+    */
+    switch (vector_type) {
+        case VECTOR_MAGNETOMETER:
+            /* 1uT = 16 LSB */
+            xyz[0] = ((double)x) / 16.0;
+            xyz[1] = ((double)y) / 16.0;
+            xyz[2] = ((double)z) / 16.0;
+            break;
+        case VECTOR_GYROSCOPE:
+            /* 1dps = 16 LSB */
+            xyz[0] = ((double)x) / 16.0;
+            xyz[1] = ((double)y) / 16.0;
+            xyz[2] = ((double)z) / 16.0;
+            break;
+        case VECTOR_EULER:
+            /* 1 degree = 16 LSB */
+            xyz[0] = ((double)x) / 16.0;
+            xyz[1] = ((double)y) / 16.0;
+            xyz[2] = ((double)z) / 16.0;
+            break;
+        case VECTOR_ACCELEROMETER:
+            /* 1m/s^2 = 100 LSB */
+            xyz[0] = ((double)x) / 100.0;
+            xyz[1] = ((double)y) / 100.0;
+            xyz[2] = ((double)z) / 100.0;
+            break;
+        case VECTOR_LINEARACCEL:
+            /* 1m/s^2 = 100 LSB */
+            xyz[0] = ((double)x) / 100.0;
+            xyz[1] = ((double)y) / 100.0;
+            xyz[2] = ((double)z) / 100.0;
+            break;
+        case VECTOR_GRAVITY:
+            /* 1m/s^2 = 100 LSB */
+            xyz[0] = ((double)x) / 100.0;
+            xyz[1] = ((double)y) / 100.0;
+            xyz[2] = ((double)z) / 100.0;
+            break;
+    }
+
+    return xyz;
+}
+imu::Quaternion IMUSensor::getQuat() {
+    uint8_t buffer[8] = readMultipleRegisters(BNO055_QUATERNION_DATA_W_LSB_ADDR, 8);
+
+    int16_t x, y, z, w;
+    x = y = z = w = 0;
+
+    //Bit shift data into the right places and store it
+    w = (((uint16_t)buffer[1]) << 8) | ((uint16_t)buffer[0]);
+    x = (((uint16_t)buffer[3]) << 8) | ((uint16_t)buffer[2]);
+    y = (((uint16_t)buffer[5]) << 8) | ((uint16_t)buffer[4]);
+    z = (((uint16_t)buffer[7]) << 8) | ((uint16_t)buffer[6]);
+
+    /*!
+    * Assign to Quaternion
+    * See
+    * https://cdn-shop.adafruit.com/datasheets/BST_BNO055_DS000_12.pdf
+    * 3.6.5.5 Orientation (Quaternion)
+    */
+    const double scale = (1.0 / (1 << 14));
+    imu::Quaternion quat(scale * w, scale * x, scale * y, scale * z);
+    return quat;
+}
+
+int8_t IMUSensor::getTemp() {
+    int8_t temp = (int8_t)(readSingleRegister(BNO055_TEMP_ADDR));
+    return temp;
+}
+
+void IMUSensor::setAxisRemap(adafruit_bno055_axis_remap_config_t remapcode) {
+    //Put into proper config for mapping stuff
+    setModeTemp(OPERATION_MODE_CONFIG);
+    writeRegister(BNO055_AXIS_MAP_CONFIG_ADDR, remapcode);
+
+    //Return mode to operating mode
+    setModeTemp(currentMode);
+}
+
+void IMUSensor::setAxisSign(adafruit_bno055_axis_remap_sign_t remapsign) {
+    //See above method, pretty much the exact same
+    setModeTemp(OPERATION_MODE_CONFIG);
+    writeRegister(BNO055_AXIS_MAP_SIGN_ADDR, remapsign);
+    setModeTemp(currentMode);
+}    
+
+//This method is weird; it intakes several existing byte pointers to see what action it should take. Luckily, we shouldn't have to use it.
+void IMUSensor::getSystemStatus(uint8_t *system_status, uint8_t *self_test_result, uint8_t *system_error) {
+    //Make sure IMU is on proper register page to get system status
+    writeRegister(BNO055_PAGE_ID_ADDR, 0);
+    
+    //If system status requested, read the status.
+    if (system_status != 0) *system_status = readSingleRegister(BNO055_SYS_STAT_ADDR);
+    //If self test result requested, pull the self test results.
+    if (self_test_result != 0) *self_test_result = readSingleRegister(BNO055_SELFTEST_RESULT_ADDR);
+    //Finally, if there's an error pull and stash it.
+    if (system_error != 0) *system_error = readSingleRegister(BNO055_SYS_ERR_ADDR);
+}
+
+//Same as above method, byte pointers are fed into it as parameters that get populated by method.
+void IMUSensor::getCalibration(uint8_t *sys, uint8_t *gyro, uint8_t *accel, uint8_t *mag) {
+    uint8_t calData = readSingleRegister(BNO055_CALIB_STAT_ADDR);
+    if (sys != NULL) {
+        *sys = (calData >> 6) & 0x03;
+    }
+    if (gyro != NULL) {
+        *gyro = (calData >> 4) & 0x03;
+    }
+    if (accel != NULL) {
+        *accel = (calData >> 2) & 0x03;
+    }
+    if (mag != NULL) {
+        *mag = calData & 0x03;
+    }
+}
+
+/* Functions to deal with raw calibration data */
+bool IMUSensor::getSensorOffsets(uint8_t *calibData) {
+    if (isFullyCalibrated()) {
+        setModeTemp(OPERATION_MODE_CONFIG);
+
+        calibData = readMultipleRegisters(ACCEL_OFFSET_X_LSB_ADDR, NUM_BNO055_OFFSET_REGISTERS);
+
+        setModeTemp(currentMode);
+        return true;
+    }
+    return false;
+}
+
+//Fully populated offset getter using type of offset, not just calibration data
+bool IMUSensor::getSensorOffsets(adafruit_bno055_offsets_t &offsets_type) {
+    if (isFullyCalibrated()) {
+        setModeTemp(OPERATION_MODE_CONFIG);
+
+        /* Accel offset range depends on the G-range:
+        +/-2g  = +/- 2000 mg
+        +/-4g  = +/- 4000 mg
+        +/-8g  = +/- 8000 mg
+        +/-1§g = +/- 16000 mg */
+        offsets_type.accel_offset_x = (readSingleRegister(ACCEL_OFFSET_X_MSB_ADDR) << 8) |
+                                    (readSingleRegister(ACCEL_OFFSET_X_LSB_ADDR));
+        offsets_type.accel_offset_y = (readSingleRegister(ACCEL_OFFSET_Y_MSB_ADDR) << 8) |
+                                    (readSingleRegister(ACCEL_OFFSET_Y_LSB_ADDR));
+        offsets_type.accel_offset_z = (readSingleRegister(ACCEL_OFFSET_Z_MSB_ADDR) << 8) |
+                                    (readSingleRegister(ACCEL_OFFSET_Z_LSB_ADDR));
+
+        /* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
+        offsets_type.mag_offset_x =
+            (readSingleRegister(MAG_OFFSET_X_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_X_LSB_ADDR));
+        offsets_type.mag_offset_y =
+            (readSingleRegister(MAG_OFFSET_Y_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_Y_LSB_ADDR));
+        offsets_type.mag_offset_z =
+            (readSingleRegister(MAG_OFFSET_Z_MSB_ADDR) << 8) | (readSingleRegister(MAG_OFFSET_Z_LSB_ADDR));
+
+        /* Gyro offset range depends on the DPS range:
+        2000 dps = +/- 32000 LSB
+        1000 dps = +/- 16000 LSB
+        500 dps = +/- 8000 LSB
+        250 dps = +/- 4000 LSB
+        125 dps = +/- 2000 LSB
+        ... where 1 DPS = 16 LSB */
+        offsets_type.gyro_offset_x =
+            (readSingleRegister(GYRO_OFFSET_X_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_X_LSB_ADDR));
+        offsets_type.gyro_offset_y =
+            (readSingleRegister(GYRO_OFFSET_Y_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_Y_LSB_ADDR));
+        offsets_type.gyro_offset_z =
+            (readSingleRegister(GYRO_OFFSET_Z_MSB_ADDR) << 8) | (readSingleRegister(GYRO_OFFSET_Z_LSB_ADDR));
+
+        /* Accelerometer radius = +/- 1000 LSB */
+        offsets_type.accel_radius =
+            (readSingleRegister(ACCEL_RADIUS_MSB_ADDR) << 8) | (readSingleRegister(ACCEL_RADIUS_LSB_ADDR));
+
+        /* Magnetometer radius = +/- 960 LSB */
+        offsets_type.mag_radius =
+            (readSingleRegister(MAG_RADIUS_MSB_ADDR) << 8) | (readSingleRegister(MAG_RADIUS_LSB_ADDR));
+
+        setModeTemp(currentMode);
+        return true;
+    }
+    return false;
+}
+
+void IMUSensor::setSensorOffsets(const uint8_t *calibData) {
+    setModeTemp(OPERATION_MODE_CONFIG);
+
+    /* Note: Configuration will take place only when user writes to the last
+        byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
+        Therefore the last byte must be written whenever the user wants to
+        changes the configuration. */
+
+    /* A writeLen() would make this much cleaner */
+    writeRegister(ACCEL_OFFSET_X_LSB_ADDR, calibData[0]);
+    writeRegister(ACCEL_OFFSET_X_MSB_ADDR, calibData[1]);
+    writeRegister(ACCEL_OFFSET_Y_LSB_ADDR, calibData[2]);
+    writeRegister(ACCEL_OFFSET_Y_MSB_ADDR, calibData[3]);
+    writeRegister(ACCEL_OFFSET_Z_LSB_ADDR, calibData[4]);
+    writeRegister(ACCEL_OFFSET_Z_MSB_ADDR, calibData[5]);
+
+    writeRegister(MAG_OFFSET_X_LSB_ADDR, calibData[6]);
+    writeRegister(MAG_OFFSET_X_MSB_ADDR, calibData[7]);
+    writeRegister(MAG_OFFSET_Y_LSB_ADDR, calibData[8]);
+    writeRegister(MAG_OFFSET_Y_MSB_ADDR, calibData[9]);
+    writeRegister(MAG_OFFSET_Z_LSB_ADDR, calibData[10]);
+    writeRegister(MAG_OFFSET_Z_MSB_ADDR, calibData[11]);
+
+    writeRegister(GYRO_OFFSET_X_LSB_ADDR, calibData[12]);
+    writeRegister(GYRO_OFFSET_X_MSB_ADDR, calibData[13]);
+    writeRegister(GYRO_OFFSET_Y_LSB_ADDR, calibData[14]);
+    writeRegister(GYRO_OFFSET_Y_MSB_ADDR, calibData[15]);
+    writeRegister(GYRO_OFFSET_Z_LSB_ADDR, calibData[16]);
+    writeRegister(GYRO_OFFSET_Z_MSB_ADDR, calibData[17]);
+
+    writeRegister(ACCEL_RADIUS_LSB_ADDR, calibData[18]);
+    writeRegister(ACCEL_RADIUS_MSB_ADDR, calibData[19]);
+
+    writeRegister(MAG_RADIUS_LSB_ADDR, calibData[20]);
+    writeRegister(MAG_RADIUS_MSB_ADDR, calibData[21]);
+
+    setModeTemp(currentMode);
+}
+
+void IMUSensor::setSensorOffsets(const adafruit_bno055_offsets_t &offsets_type) {
+    setModeTemp(OPERATION_MODE_CONFIG);
+
+    /* Note: Configuration will take place only when user writes to the last
+        byte of each config data pair (ex. ACCEL_OFFSET_Z_MSB_ADDR, etc.).
+        Therefore the last byte must be written whenever the user wants to
+        changes the configuration. */
+
+    writeRegister(ACCEL_OFFSET_X_LSB_ADDR, (offsets_type.accel_offset_x) & 0x0FF);
+    writeRegister(ACCEL_OFFSET_X_MSB_ADDR, (offsets_type.accel_offset_x >> 8) & 0x0FF);
+    writeRegister(ACCEL_OFFSET_Y_LSB_ADDR, (offsets_type.accel_offset_y) & 0x0FF);
+    writeRegister(ACCEL_OFFSET_Y_MSB_ADDR, (offsets_type.accel_offset_y >> 8) & 0x0FF);
+    writeRegister(ACCEL_OFFSET_Z_LSB_ADDR, (offsets_type.accel_offset_z) & 0x0FF);
+    writeRegister(ACCEL_OFFSET_Z_MSB_ADDR, (offsets_type.accel_offset_z >> 8) & 0x0FF);
+
+    writeRegister(MAG_OFFSET_X_LSB_ADDR, (offsets_type.mag_offset_x) & 0x0FF);
+    writeRegister(MAG_OFFSET_X_MSB_ADDR, (offsets_type.mag_offset_x >> 8) & 0x0FF);
+    writeRegister(MAG_OFFSET_Y_LSB_ADDR, (offsets_type.mag_offset_y) & 0x0FF);
+    writeRegister(MAG_OFFSET_Y_MSB_ADDR, (offsets_type.mag_offset_y >> 8) & 0x0FF);
+    writeRegister(MAG_OFFSET_Z_LSB_ADDR, (offsets_type.mag_offset_z) & 0x0FF);
+    writeRegister(MAG_OFFSET_Z_MSB_ADDR, (offsets_type.mag_offset_z >> 8) & 0x0FF);
+
+    writeRegister(GYRO_OFFSET_X_LSB_ADDR, (offsets_type.gyro_offset_x) & 0x0FF);
+    writeRegister(GYRO_OFFSET_X_MSB_ADDR, (offsets_type.gyro_offset_x >> 8) & 0x0FF);
+    writeRegister(GYRO_OFFSET_Y_LSB_ADDR, (offsets_type.gyro_offset_y) & 0x0FF);
+    writeRegister(GYRO_OFFSET_Y_MSB_ADDR, (offsets_type.gyro_offset_y >> 8) & 0x0FF);
+    writeRegister(GYRO_OFFSET_Z_LSB_ADDR, (offsets_type.gyro_offset_z) & 0x0FF);
+    writeRegister(GYRO_OFFSET_Z_MSB_ADDR, (offsets_type.gyro_offset_z >> 8) & 0x0FF);
+
+    writeRegister(ACCEL_RADIUS_LSB_ADDR, (offsets_type.accel_radius) & 0x0FF);
+    writeRegister(ACCEL_RADIUS_MSB_ADDR, (offsets_type.accel_radius >> 8) & 0x0FF);
+
+    writeRegister(MAG_RADIUS_LSB_ADDR, (offsets_type.mag_radius) & 0x0FF);
+    writeRegister(MAG_RADIUS_MSB_ADDR, (offsets_type.mag_radius >> 8) & 0x0FF);
+
+    setModeTemp(currentMode);
+
+}
+
+bool IMUSensor::isFullyCalibrated() {
+    uint8_t system, gyro, accel, mag;
+    getCalibration(&system, &gyro, &accel, &mag);
+
+    switch (currentMode) {
+        case OPERATION_MODE_ACCONLY:
+            return (accel == 3);
+        case OPERATION_MODE_MAGONLY:
+            return (mag == 3);
+        case OPERATION_MODE_GYRONLY:
+        case OPERATION_MODE_M4G: /* No magnetometer calibration required. */
+            return (gyro == 3);
+        case OPERATION_MODE_ACCMAG:
+        case OPERATION_MODE_COMPASS:
+            return (accel == 3 && mag == 3);
+        case OPERATION_MODE_ACCGYRO:
+        case OPERATION_MODE_IMUPLUS:
+            return (accel == 3 && gyro == 3);
+        case OPERATION_MODE_MAGGYRO:
+            return (mag == 3 && gyro == 3);
+        default:
+            return (system == 3 && gyro == 3 && accel == 3 && mag == 3);
+    }   
+}
+
+/* Power managments functions */
+void IMUSensor::enterSuspendMode() {
+    /* Switch to config mode (just in case since this is the default) */
+    setModeTemp(OPERATION_MODE_CONFIG);
+    writeRegister(BNO055_PWR_MODE_ADDR, 0x02);
+    /* Set the requested operating mode (see section 3.3) */
+    setModeTemp(currentMode);
+}
+
+void IMUSensor::enterNormalMode() {
+    /* Switch to config mode (just in case since this is the default) */
+    setModeTemp(OPERATION_MODE_CONFIG);
+    writeRegister(BNO055_PWR_MODE_ADDR, 0x00);
+    /* Set the requested operating mode (see section 3.3) */
+    setModeTemp(modeback);
+}
+
+
+
+
+
+
+
+
+
+
diff --git a/src/unused/surfaceFitModel.cpp b/src/unused/surfaceFitModel.cpp
new file mode 100644
index 0000000..d48da49
--- /dev/null
+++ b/src/unused/surfaceFitModel.cpp
@@ -0,0 +1,40 @@
+#include "../include/surfaceFitModel.hpp"
+
+SurfaceFitModel::SurfaceFitModel() {
+
+    p = MatrixXd::Zero(X_DEGREE + 1, Y_DEGREE + 1);
+
+    p(0, 0) = -781536.384794701;
+    p(1, 0) = 8623.59011973048;
+    p(0, 1) = 643.65918253;
+    p(2, 0) = -34.3646691281487;
+    p(1, 1) = -5.46066535343611;
+    p(0, 2) = -0.177121900557321;
+    p(3, 0) = 0.0573287698655951;
+    p(2, 1) = 0.0150031142038895;
+    p(1, 2) = 0.00101871763126609;
+    p(0, 3) = 1.63862900553892e-05;
+    p(4, 0) = -3.21785828407871e-05;
+    p(3, 1) = -1.3161091180883e-05;
+    p(2, 2) = -1.42505256569339e-06;
+    p(1, 3) = -4.76209793830867e-08;
+}
+
+
+double SurfaceFitModel::getFit(double x, double y) {
+
+    return p(0, 0) + p(1, 0) * x + p(0, 1) * y + p(2, 0) * pow(x, 2) +
+	p(1, 1) * x * y + p(0, 2) * pow(y, 2) + p(3, 0) * pow(x, 3) +
+	p(2, 1) * pow(x, 2) * y + p(1, 2) * x * pow(y, 2) + p(0, 3) * pow(y, 3) +
+	p(4, 0) * pow(x, 4) + p(3, 1) * pow(x, 3) * y + p(2, 2) * pow(x, 2) * pow(y, 2) +
+	p(1, 3) * x * pow(y, 3); 
+}
+
+
+
+
+
+
+
+
+