From 58b4bc754bbb9f5197119cd0c124e49c05acff46 Mon Sep 17 00:00:00 2001
From: Dawsyn Schraiber <32221234+dawsynth@users.noreply.github.com>
Date: Thu, 13 Jun 2024 14:30:58 -0400
Subject: Where to begin…. (#13)
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+/- 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
---
 src/AltEst/altitude.cpp | 58 -------------------------------------------------
 1 file changed, 58 deletions(-)
 delete mode 100644 src/AltEst/altitude.cpp

(limited to 'src/AltEst/altitude.cpp')

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;
-}
-- 
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