ApogeePredictor.h

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#ifndef APOGEE_PREDICTOR_H
#define APOGEE_PREDICTOR_H
 
#include <cstdint>
 
#include "state_estimation/VerticalVelocityEstimator.h"

class ApogeePredictor {
public:
    explicit ApogeePredictor(const VerticalVelocityEstimator& velocityEstimator,
                             float accelFilterAlpha = 0.2F,
                             float minimumClimbVelocity_ms = 1.0F);

    void update();

    void quad_update();
 
    void poly_update();
 
    // ----- Accessors -----
    [[nodiscard]] bool     isPredictionValid()            const;
    [[nodiscard]] float    getTimeToApogee_s()            const;
    [[nodiscard]] uint32_t getPredictedApogeeTimestamp_ms() const;
    [[nodiscard]] float    getPredictedApogeeAltitude_m() const;
    [[nodiscard]] float    getFilteredDeceleration()      const;
 
private:
    const VerticalVelocityEstimator& vve_;
 
    float filteredDecel_;   
    float alpha_;           
    float minClimbVel_;     
 
    // Latest prediction results
    bool     valid_;        
    float    tToApogee_;    
    uint32_t predApogeeTs_; 
    float    predApogeeAlt_;
 
    // Bookkeeping
    uint32_t lastTs_;       
    float    lastVel_;      
    uint32_t numWarmups_;   
};
 
#endif // APOGEE_PREDICTOR_H