Feature/navigation#8

Draft

CSutter5 wants to merge 45 commits intomainfrom

feature/navigation

Commits on Oct 27, 2025

Commits on Oct 30, 2025

Created basic I2C Device, and SPI Device classes
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Created LSM6DSV320 driver
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Added more docstrings
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Added updateDevice method to I2C and SPI devices
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Commits on Nov 4, 2025

Created basic Sensor and Navigation classes
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Created basic I2C Device, and SPI Device classes
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Created LSM6DSV320 driver
CSutter5
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Added more docstrings
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Added updateDevice method to I2C and SPI devices
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Merge branch 'feature/navigation' of github.com:Pioneer-Rocketry/Flight-Computer into feature/navigation
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Commits on Nov 7, 2025

Added IMU device to nav class
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Commits on Nov 14, 2025

Wrote basic MS560702BA03 driver
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Commits on Nov 22, 2025

Finished writing IMU Driver
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Created Barometer Driver (not fully tested)
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Added Quaternion Type
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Commits on Nov 23, 2025

Test Barometer driver and it works
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Implementated basic sensor fusion using quaternion intergration, and kalman filter
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Added Kalman Filter data to DataContainer
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Added Doc Strings to KF Init
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Designed and implemented the State Transition Matrix for the KF
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Designed and implemented Observation Matrix
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Designed and implemented the Process Noise, and Measurement Noise Matricies
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Create Kalman Filter update, and run functions
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Commits on Nov 25, 2025

Fix some of the math errors in the Quaterion intergration, and Kalman Filter.
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Switch from custom quat to Eigen quat
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Added pointer to the uart in GPS
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Added a basic gyro bias
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Recored how long each KF operation took
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Commits on Dec 2, 2025

Added functions for working with microseconds
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Commits on Dec 7, 2025

Commits on Dec 15, 2025

Commits on Dec 23, 2025

Switch to a custom matrix implemations that is faster
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Commits on Dec 27, 2025

Commits on Jan 7, 2026

Merge branch 'main' into feature/navigation
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fixed build script
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removed unneeded build files
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fixed compiler error
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Merge branch 'main' into feature/navigation
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Commits on Jan 8, 2026

Modifed vscode settings
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Implement a GPS driver
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