dragspeed.h

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/*
 * Copyright (C) Tom van Dijk
 *
 * This file is part of paparazzi
 *
 * paparazzi 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 2, or (at your option)
 * any later version.
 *
 * paparazzi 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 paparazzi; see the file COPYING.  If not, see
 * <http://www.gnu.org/licenses/>.
 */
#ifndef DRAGSPEED_H
#define DRAGSPEED_H

#include "math/pprz_algebra_float.h"

struct dragspeed_t
{
  // Estimated velocity
  struct FloatVect2 vel;
  // Low-pass filter
  float filter;
  // Drag coefficient calibration
  struct FloatVect2 coeff;
  bool calibrate_coeff;
  // Zero calibration
  struct FloatVect2 zero;
  bool calibrate_zero;
  bool zero_calibrated;
};
extern struct dragspeed_t dragspeed;

extern void dragspeed_init(void);

// Calibration functions for use in flight plans
extern bool dragspeed_calibrate_coeff(void);
extern bool dragspeed_calibrate_zero(void);
extern bool dragspeed_is_calibrating(void);

#endif