orientation.h

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/*
Copyright (C) 2017 Michael Brookes

This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/

#ifndef QUADRO_ORIENTATION_H
#define QUADRO_ORIENTATION_H

#include <cstdio>
#include <pthread.h>
#include "../External/Kalman.h"
#include "../Timer/Timer.h"
#include "../I2C/Devices/L3GD20H/L3GD20H.h"
#include "../I2C/Devices/LSM303/Accelerometer/LSM303Accelerometer.h"
#include "../analog/devices/LVMaxSonarEZ/LVMaxSonarEZ.h"
#include "../I2C/Devices/LSM303/Magnetometer/LSM303Magnetometer.h"
#include "../external/PID.h"

namespace quadro {
    using namespace analog;
    using namespace i2c;

    class orientation {

    public:

        const float DATA_RATE = 0.02;

        const float COMPLIMENTARY_FILTER_TUNING = 0.98;

        orientation( );

        ~orientation() noexcept;

        void setDataFilterSelection( int );

        float roll; 
        float pitch; 
        float yaw; 
        float baroHeight; 
        float sonicHeight; 
        float height; 
        float heading;

        int dataFilterSelection; 

        enum dataFilter {
            KALMAN = 1, 
            COMPLIMENTARY = 2 
        };

        PID* pitchPID;

        PID* rollPID;

    private:

        static void* setValues( void* orientationInst );

        pthread_t orientationNotifyer; 

        Kalman kalmanPitch; 

        Kalman kalmanRoll; 

        LVMaxSonarEZ* sonicSensor; 

        LSM303Accelerometer* accelerometer; 

        LSM303Magnetometer* magnetometer; 

        L3GD20H* gyroscope; 

        void runKalmanCalculations();

        void runComplimentaryCalculations();

    };

}

#endif //QUADRO_ORIENTATION_H