veloxity_core/
estimator.rs

1use crate::{
2    comm::messages::messages::ExternalAttitudeMsg, math::FlightFloat, params::Params,
3    sensors::ProcessedSensors,
4};
5pub mod quad;
6
7pub struct EstimatorCtx<'a, R: FlightFloat> {
8    pub sensors: &'a ProcessedSensors<R>,
9    pub params: &'a Params,
10    pub dt: R,
11    pub external_attitude: Option<ExternalAttitudeMsg>,
12}
13
14pub trait Estimator<R: FlightFloat> {
15    type State: AttitudeEstimate;
16    fn estimate(&mut self, ctx: EstimatorCtx<'_, R>) -> Self::State;
17
18    fn update_params(&mut self, _params: &Params) {}
19
20    fn reset(&mut self) {}
21
22    fn reset_adaptive_bias(&mut self) {}
23}
24
25pub trait AttitudeEstimate {
26    fn q(&self) -> [f32; 4];
27    fn q_dot(&self) -> [f32; 4];
28    fn is_healthy(&self) -> bool;
29}
veloxity_core/estimator.rs

veloxity_core/
estimator.rs
