[WIP] Q-MEKF implementation

.gitignore

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+.pio
+.vscode/*
+*.asv
+*.csv

boards/mars.json

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+{
+  "build": {
+    "core": "stm32",
+    "cpu": "cortex-m7",
+    "extra_flags": "-DSTM32H7 -DSTM32H7xx -DSTM32H753xx -DARDUINO_MARS",
+    "f_cpu": "400000000L",
+    "mcu": "stm32h753zit6",
+    "product_line": "STM32H753xx",
+    "variant": "MARS"
+  },
+  "connectivity": [],
+  "debug": {
+    "default_tools": [
+      "stlink"
+    ],
+    "jlink_device": "STM32H753ZI",
+    "openocd_target": "stm32h7x",
+    "svd_path": "STM32H753.svd"
+  },
+  "frameworks": [
+    "arduino",
+    "cmsis",
+    "stm32cube",
+    "zephyr"
+  ],
+  "name": "ST Nucleo H753ZI",
+  "upload": {
+    "maximum_ram_size": 524288,
+    "maximum_size": 2097152,
+    "protocol": "stlink",
+    "protocols": [
+      "jlink",
+      "cmsis-dap",
+      "stlink",
+      "blackmagic",
+      "mbed"
+    ]
+  },
+  "url": "https://www.st.com/en/evaluation-tools/nucleo-h753zi.html",
+  "vendor": "ST"
+}

include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+;[env:nucleo_h753zi]
+;platform = ststm32
+;board = nucleo_h753zi
+;framework = arduino
+;lib_deps = 
+;	tomstewart89/BasicLinearAlgebra @ ^5.1
+;	Wire
+;	SPI
+;	Servo
+;	IWatchdog
+
+
+;[env:polaris]
+;board = teensymm
+;platform = teensy
+;framework = arduino
+;build_flags = -D POLARIS -D ENABLE_DEDICATED_SPI=0
+;lib_deps =
+;	tomstewart89/BasicLinearAlgebra @ ^5.1
+;	Wire
+;	SPI
+;	Servo
+
+; PlatformIO Project Configuration File
+
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env]
+platform = ststm32
+framework = arduino
+
+lib_deps =
+    adafruit/Adafruit INA219@^1.2.3
+    adafruit/Adafruit LPS2X@^2.0.6
+    adafruit/Adafruit BusIO@^1.17.0
+    adafruit/Adafruit Unified Sensor@^1.1.15
+    stm32duino/STM32duino ASM330LHH@^2.0.1
+
+    ; Adafruit ICM20948 support is inside Adafruit ICM20X
+    adafruit/Adafruit ICM20X@^2.0.7
+
+    sparkfun/SparkFun u-blox GNSS v3@^3.1.8
+    greiman/SdFat
+    tomstewart89/BasicLinearAlgebra@^5.1
+
+
+[env:mars]
+board = mars
+board_build.variants_dir = variants
+
+build_flags =
+    -D MARS
+    -I variants/MARS
+    -DTIM_IRQ_PRIO=2
+    -DTIM_I2C_PRIO=3
+    -DPIO_FRAMEWORK_ARDUINO_ENABLE_CDC
+    -DUSBCON
+    -DUSBD_VID=0
+    -DUSBD_PID=0
+    -DHSE_BYPASS_NOT_USED
+    -DLSE_BYPASS_NOT_USED
+    -Wa,-mfloat-abi=hard
+    -Wa,-mfpu=fpv4-sp-d16
+    -O3
+
+upload_protocol = dfu

src/Conventions.txt

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+Notes:
+
+
+I change magData variable to imuData because it contains all the IMU data, not just magData
+Also please change the accel to return the m/s^2, not g's
+I change take in int variable state to onLoop, not the boolean:
+	0 = preLaunch
+	1 = high thrust
+	2 = coast
+	3 = falling down
+
+
+
+Frequencies variable in format:
+	gyro integrate
+	accel integrate
+	accel upate
+	mag update
+	gps update
+	baro update
+
+
+Note: Could account for distance between the vimu and gps/baro for position calculations, but honesely, is wastes more cpu time than its worth
+
+
+
+
+
+BLA library:
+
+* Norm: BLA::Norm(vec);
+* BLA::CrossProduct(A, B);
+* Define: BLA::Matrix<2, 3> x = {1, 2, 3,
+								4, 5, 6,}
+* Multiplication, addition is just *, +, / (note: ensure by a float. ex: 2.0f)
+* Submatrix: A.Submatrix<2,2>(1,0); Of a 3x2 mat A, returns bottom 2 rows
+* Transpose: A: ~a
+* Inverse: A: BLA::Inverse(A)
+* PINV: A: QuaternionUtils::pinv(A)
+
+
+struct ekfState {
+    float w;
+    float i;
+    float j;
+    float k;
+    float velX;
+    float velY;
+    float velZ;
+    float posX;
+    float posY;
+    float posZ;
+    float gyroBX;
+    float gyroBY;
+    float gyroBZ;
+    float accelBX;
+    float accelBY;
+    float accelBZ;
+    float magBX;
+    float magBY;
+    float magBZ;
+    float baroB;
+}
+
+struct ekfP {
+    float P0;
+    float P1;
+    float P3;
+    float P4;
+    float P5;
+    float P6;
+    float P7;
+    float P8;
+    float P9;
+    float P10;
+    float P11;
+    float P12;
+    float P13;
+    float P14;
+    float P15;
+    float P16;
+    float P17;
+    float P18;
+}