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/**
 * @file ekf.h
 * Class for core functions for ekf attitude and position estimator.
 *
 * @author Roman Bast <bapstroman@gmail.com>
 *
 */

#include "estimator_base.h"

#define sq(_arg)	powf(_arg, 2.0f)

class Ekf : public EstimatorBase
{
public:

	Ekf();
	~Ekf();

	bool update();

private:

	static const uint8_t _k_num_states = 24;
	static constexpr float _k_earth_rate = 0.000072921f;

	bool _filter_initialised;
	bool _earth_rate_initialised;

	bool _fuse_height;	// true if there is new baro data
	bool _fuse_pos;		// true if there is new position data from gps
	bool _fuse_vel;		// true if there is new velocity data from gps

	uint8_t _mag_fuse_index;	// counter for sequential mag axis fusion

	Vector3f _earth_rate_NED;

	matrix::Dcm<float> _R_prev;

	float P[_k_num_states][_k_num_states];	// state covariance matrix

	// complementary filter states
	Vector3f _delta_angle_corr;
	Vector3f _delta_vel_corr;
	Vector3f _vel_corr;

	void calculateOutputStates();

	bool initialiseFilter(void);

	void initialiseCovariance();

	void predictState();

	void predictCovariance();

	void fuseMag(uint8_t index);

	void fuseHeading();

	void fuseAirspeed();

	void fuseRange();

	void fuseVelPosHeight();

	void resetVelocity();

	void resetPosition();

	void makeCovSymetrical();

	void limitCov();

	void printCovToFile(char const *filename);

	void assertCovNiceness();

	void makeSymmetrical();

	void constrainStates();

	void fuse(float *K, float innovation);

	void printStates();

	void printStatesFast();

	void calcEarthRateNED(Vector3f &omega, double lat_rad) const;

};