Estimator documentation

docs/developer-guide/rosplane/controller/controller-general-overview.md

@@ -83,7 +83,7 @@ A table of arguments and parameter files that work out of the box is given in th
 !!! note 
     Filepaths will need to be altered to work.
 !!! note
-    The most common way of running the controller is in through a launch file with the rest of the ROSplane pipeline running as well.
+    The most common way of running the controller is through a launch file with the rest of the ROSplane pipeline running as well.
     See the ROSplane Overview in the Developer and User Guides for more details.
 
 

docs/developer-guide/rosplane/estimator/estimator-base.md

@@ -0,0 +1,49 @@
+# Estimator Base
+
+## Overview
+
+The estimator base implements the basic ROS interfaces for the estimator.
+This includes setting up subscribers, publishers and initializing parameter management.
+The idea of the base class, is that all interfacing with ROS and shared resources across all inheritance levels happens or are contained in this class.
+
+## ROS Interfaces
+
+The estimator has the following ROS interfaces.
+
+| ![Diagram of Estimator ROS Sensors](../../../assets/estimator_assets/estimator_ros_input_output.png "Estimator ROS Sensors") |
+|:--:|
+|*Figure 1: Estimator's ROS interactions.*|
+
+The estimator has several ROS interfaces that are tracked as member variables of the `estimator_base` class.
+They are summarized in the table below:
+
+| ROS Interface | Topic | Explanation | Message Type |
+|:------:|:-------:| :---: | :---: |
+| <div style="white-space: nowrap;">`vehicle_state_pub_`<div> | `/estimated_state` | Publishes the estimated state of teh vehicle. | State.msg |
+| <div style="white-space: nowrap;">`gnss_fix_sub_`<div> | `/navsat_compat/fix` | Subcribes to the GNSS position information. | NavSatFix.msg |
+| <div style="white-space: nowrap;">`gnss_vel_sub_`<div> | `/navsat_compat/vel` | Subcribes to the GNSS velocity information. | TwistStamped.msg |
+| <div style="white-space: nowrap;">`imu_sub_`<div> | `/imu/data` | Subcribes to the IMU data (both Gyro and Accel). | Imu.msg |
+| <div style="white-space: nowrap;">`baro_sub_`<div> | `/baro` | Subcribes to the barometer pressure information. | Barometer.msg |
+| <div style="white-space: nowrap;">`airspeed_sub_`<div> | `/airspeed` | Subcribes to the differential pressure information. | Airspeed.msg |
+| <div style="white-space: nowrap;">`status_sub_`<div> | `/status` | Subcribes to the aircraft status information. | Status.msg |
+
+!!! note 
+    The NavSatFix, TwistStamped and Imu messages are from standard ROS message packages. Barometer, Airspeed and Status messages are from `rosflight_msgs`.
+
+## Parameters
+
+| **Parameter** | **Explanation** | **Type** | **Range** |
+| :---: | :---: | :---: | :---: |
+| `rho` | The density of the air. | double | ~1.225 $\frac{kg}{m^3}$ |
+| `gravity` | The acceleration due to gravity. | double | ~9.81 $\frac{m}{s^2}$ |
+| `estimator_update_frequency` | The frequency that the estimator will run estimations. | double | $\geq 100$ Hz |
+| `gps_ground_speed_threshold` | This determines when the aircraft is moving fast enough to get a course estimate. | double | $\geq$ 0.3 $\frac{m}{s}$ |
+| `baro_measurement_gate` | The maximum allowable instantaneous change in barometer pressure measurement. | double | ~1 meter |
+| `airspeed_measurement_gate` | The maximum allowable instantaneous change in differential pressure measurement. | double | ~5 $\frac{m}{s}$ |
+| `baro_calibration_count` | The number of barometer measurements used to do calibration. | int | $\geq 100$ |
+
+## Modifying the Estimator
+
+Update when full state estimator and continuous-discrete are both implemented and a swap between them works.
+
+