state estimation module design

[celery6]

see #5

This one can probably have multiple ppl contributing together

Responsible for carrying out the state estimation algorithm stuff as specified by the state estimation theory/design group.

Components:

• The task which runs state estimation continuously
• The calculation/algorithm stuff
• Something to manage receiving IMU data? See below

Interface:

• StateEst_Update_Inputs(inputs…). For receiving new imu data. See below

Things to figure out:

• How it will receive IMU data. this should provide an interface that the imu handler module can call to inform stateest of updated data. (See diagram of module interactions in the design doc)
• Task timing, what does state estimation require? How strict? How to internally manage that? What happens if data doesn’t come in fast enough? Skipped data?
• Seems like the state est filter will need inputs from several other tasks. How will it synchronize data? Since different tasks will feed it data at different rates.
• What does it need as inputs? What will it output? Will mostly be determined by the research group.
• Same as Controller: communicate with research group about C implementation
• Testing!! What test cases? should focus on validating calculations, esp edge cases like div by 0