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/**
 * @file ekf.cpp
 * Definition of ekf attitude position estimator class.
 *
 * @author Roman Bast <bastroman@gmail.com>
 *
 */

#include "ekf.h"

Ekf::Ekf()
{

}


Ekf::~Ekf()
{

}

void Ekf::update()
{
	if (!_filter_initialised) {
		_filter_initialised = initialiseFilter();
	}

	if (!_filter_initialised) {
		return;
	}

	// prediction
	if (_imu_updated) {
		predictState();
		predictCovariance();
		_imu_updated = false;
	}

	// measurement updates
	if (_mag_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _mag_sample_delayed)) {
		fuseMag();
	}

	if (_baro_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _baro_sample_delayed)) {
		_fuse_height = true;
	}

	if (_gps_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _gps_sample_delayed)) {
		_fuse_pos = true;
		_fuse_vel = true;
	}

	if (_fuse_height || _fuse_pos || _fuse_vel) {
		fusePosVel();
	}

	if (_range_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _range_sample_delayed)) {
		fuseRange();
	}

	if (_airspeed_buffer.pop_first_older_than(_imu_sample_delayed.time_us, _airspeed_sample_delayed)) {
		fuseAirspeed();
	}

}