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/SimpleKalmanFilter.cpp | 48 ----------------------------------------------
 1 file changed, 48 deletions(-)
 delete mode 100644 src/SimpleKalmanFilter.cpp

(limited to 'src/SimpleKalmanFilter.cpp')

diff --git a/src/SimpleKalmanFilter.cpp b/src/SimpleKalmanFilter.cpp
deleted file mode 100644
index 88ba5d4..0000000
--- a/src/SimpleKalmanFilter.cpp
+++ /dev/null
@@ -1,48 +0,0 @@
-/*
- * SimpleKalmanFilter - a Kalman Filter implementation for single variable models.
- * Created by Denys Sene, January, 1, 2017.
- * Released under MIT License - see LICENSE file for details.
- */
-
-#include "SimpleKalmanFilter.h"
-#include <math.h>
-
-SimpleKalmanFilter::SimpleKalmanFilter(float mea_e, float est_e, float q)
-{
-  _err_measure=mea_e;
-  _err_estimate=est_e;
-  _q = q;
-}
-
-float SimpleKalmanFilter::updateEstimate(float mea)
-{
-  _kalman_gain = _err_estimate/(_err_estimate + _err_measure);
-  _current_estimate = _last_estimate + _kalman_gain * (mea - _last_estimate);
-  _err_estimate =  (1.0f - _kalman_gain)*_err_estimate + fabsf(_last_estimate-_current_estimate)*_q;
-  _last_estimate=_current_estimate;
-
-  return _current_estimate;
-}
-
-void SimpleKalmanFilter::setMeasurementError(float mea_e)
-{
-  _err_measure=mea_e;
-}
-
-void SimpleKalmanFilter::setEstimateError(float est_e)
-{
-  _err_estimate=est_e;
-}
-
-void SimpleKalmanFilter::setProcessNoise(float q)
-{
-  _q=q;
-}
-
-float SimpleKalmanFilter::getKalmanGain() {
-  return _kalman_gain;
-}
-
-float SimpleKalmanFilter::getEstimateError() {
-  return _err_estimate;
-}
-- 
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