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_mps = 1.0F);

    void update();

    void quadUpdate();
 
    void polyUpdate();
 
    void analyticUpdate();
 
    void simulateUpdate();
 
    // ----- 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;
    [[nodiscard]] float    getDragCoefficient()      const;
 
 
private:
    const VerticalVelocityEstimator& vve_;
 
    float filteredDecel_mps2_;   
    float alpha_;           
    float minimumClimbVelocity_mps_; 
 
    // Latest prediction results
    bool     valid_;        
    float    tToApogee_;    
    uint32_t predApogeeTs_; 
    float    predApogeeAlt_;
    float currentDragCoefficient_ = 0.0005F;     
    
    //variables for simulation apogee prediction
    float beta_ = 400.0f;
    float filteredApogee_ = 0.0f;
    bool apogeeInitialized_ = false;
 
    // Bookkeeping
    uint32_t lastTs_;       
    float    lastVel_;      
    uint32_t numWarmups_;   
};
 
#endif // APOGEE_PREDICTOR_H