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#pragma once
#include <iostream>
#include <exception>
#include <stdexcept>
#include <chrono>
#include <thread>
#include "kalmanfilter.hpp"
#include "logger.hpp"
#include "actuationPlan.hpp"
#include "rocketUtils.hpp"
#include "sensorIMU.hpp"
#include "sensorAltimeter.hpp"
#include "motor.hpp"
#include "eigen3/Eigen/Dense"
using namespace Eigen;
class ADS {
private:
KalmanFilter kf;
ActuationPlan plan;
IMUSensor imu;
AltimeterSensor altimeter;
Motor motor;
Vehicle rocket;
/**
* @brief Logs a summary of all pertinent current rocket data
* (e.g. Altitude, Velocity, Acceleration)
*/
virtual void logSummary();
/**
* @brief Performs a routine to calculate the average altitude
* while the vehicle is waiting on the pad.
*/
virtual void updateOnPadAltitude();
/**
* @brief Update the vehicle with the current sensor (IMU & Altimeter) readings
*/
virtual void updateSensorData();
/**
* @brief Update the rocket state based on its current telemetry readings.
* Also Log pertinent telemetry and rocket state data
*/
virtual void updateRocketState();
public:
/**
* @brief Construct a new ADS object
*
* @param plan The Actuation Plan for the Rocket
*/
ADS(ActuationPlan plan);
/**
* @brief Run the full active drag system from launch to landing.
*/
virtual void run();
};
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