diff --git a/CMakeLists.txt b/CMakeLists.txt
index 2c858831ed86a80964624b7c2f84fdc3338b0aba..d4667e7aabef88e6939584305988e1819aa47cac 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -140,6 +140,7 @@ add_executable(catch-tests-boardcore
src/tests/catch/test-pitot.cpp
src/tests/catch/test-units.cpp
src/tests/catch/test-registry-frontend.cpp
+ src/tests/catch/nas/test-nas.cpp
)
target_compile_definitions(catch-tests-boardcore PRIVATE USE_MOCK_PERIPHERALS)
sbs_target(catch-tests-boardcore stm32f429zi_stm32f4discovery)
diff --git a/cmake/boardcore-host.cmake b/cmake/boardcore-host.cmake
index 6f22f2b1fde182ffdb17fb4b6470bc51de995bb8..6b0825ffc1984f0660725226eb25a2c7be59efc8 100644
--- a/cmake/boardcore-host.cmake
+++ b/cmake/boardcore-host.cmake
@@ -34,6 +34,7 @@ set(BOARDCORE_HOST_SRC
# Algorithms
${SBS_BASE}/src/shared/algorithms/MEA/MEA.cpp
+ ${SBS_BASE}/src/shared/algorithms/NAS/NAS.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakesInterp.cpp
${SBS_BASE}/src/shared/algorithms/AirBrakes/AirBrakes.cpp
diff --git a/src/tests/catch/nas/nasData.h b/src/tests/catch/nas/nasData.h
new file mode 100644
index 0000000000000000000000000000000000000000..056a4f1e21e0dc171afb998c76751cea04aff924
--- /dev/null
+++ b/src/tests/catch/nas/nasData.h
@@ -0,0 +1,30860 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+// PITOT_STOP_ALTITUDE 800
+
+NASConfig nasConfig{
+ 0.02, // T
+ 0.0001, // SIGMA_BETA
+ 10, // SIGMA_W
+ 10, // SIGMA_ACC [WARNING] not present in simulator
+ 10, // SIGMA_MAG
+ 5, // SIGMA_GPS
+ 2500, // SIGMA_BAR
+ 10, // SIGMA_POS
+ 10, // SIGMA_VEL
+ 100, // SIGMA_PITOT
+ 0.01, // P_POS
+ 0.01, // P_POS_VERTICAL
+ 0.01, // P_VEL
+ 0.01, // P_VEL_VERTICAL
+ 0.01, // P_ATT
+ 0.01, // P_BIAS
+ 6, // SATS_NUM
+ {0.594208650000880, -0.010856064524478, 0.804237667687340}, // NED_MAG
+ // {263.4372, -4.812942, 356.5518}, // NED_MAG
+};
+
+AccelerometerData acc[] = {
+{
+2,0.3832031,0.03353027,-0.02874023
+},
+{
+3,4.368515,0.02395019,-0.06227051
+},
+{
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+},
+{
+5,28.18459,0.03832031,-0.04790039
+},
+{
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+},
+{
+7,37.14196,-0.01916016,0.009580079
+},
+{
+8,45.28503,-0.03353027,0.04311035
+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+},
+{
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+{
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+},
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+},
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+},
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+},
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+},
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+},
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+},
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+},
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+},
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+},
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+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1260,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1261,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1262,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1263,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1264,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1265,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1266,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1267,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1268,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1269,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1270,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1271,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1272,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1273,{
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+}},
+{1274,{
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+}},
+{1275,{
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+}},
+{1276,{
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+}},
+{1277,{
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+}},
+{1278,{
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+}},
+{1279,{
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+}},
+{1280,{
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+}},
+{1281,{
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+}},
+{1282,{
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+}},
+{1283,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}},
+{1284,{
+-756.4464,333.4562,-3159.955,-26.24327,17.56125,-23.06803,-0.04784732,0.5828766,0.8102456,-0.03830996,9.604909e-09,-9.564639e-09,3.174429e-09
+}}
+};
diff --git a/src/tests/catch/nas/test-nas.cpp b/src/tests/catch/nas/test-nas.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..9d58fa404d8118bc7d95d2547eae7c03c6c48548
--- /dev/null
+++ b/src/tests/catch/nas/test-nas.cpp
@@ -0,0 +1,158 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Author: Emilio Corigliano
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+#include <algorithms/NAS/NAS.h>
+
+#include <catch2/catch.hpp>
+#include <iostream>
+
+#include "nasData2.h"
+
+using namespace Boardcore;
+using namespace Eigen;
+
+void checkStates(uint32_t i, const NASState &x_curr, const NASState &x_i);
+
+TEST_CASE("NAS complete")
+{
+ static_assert(sizeof(acc) / sizeof(acc[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(baro) / sizeof(baro[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(gps) / sizeof(gps[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(gyro) / sizeof(gyro[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(mag) / sizeof(mag[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(pitot) / sizeof(pitot[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+ static_assert(sizeof(nasInputs) / sizeof(nasInputs[0]) ==
+ sizeof(nasOutputs) / sizeof(nasOutputs[0]));
+
+ NAS nas(nasConfig);
+ NASState x_curr;
+ ReferenceValues r(gps[0].height, baro[0].pressure, 15, gps[0].latitude, gps[0].longitude);
+ nas.setReferenceValues(r);
+
+ for (uint32_t i = 0; i < sizeof(nasOutputs) / sizeof(nasOutputs[0]) - 1; i++)
+ {
+ nas.setX(nasInputs[i].getX());
+ printf("[%d] d_after setX: %f\n", i, nas.getState().d);
+
+ // Update the kalman
+ nas.predictAcc(acc[i]);
+ printf("[%d] d_predAcc: %f\n", i, nas.getState().d);
+ nas.predictGyro(gyro[i]);
+ nas.correctGPS(gps[i]);
+ printf("[%d] d_pre: %f\n", i, nas.getState().d);
+ printf("[%d] pres: %f\n", i, baro[i].pressure);
+ nas.correctBaro(baro[i].pressure);
+ printf("[%d] d_post: %f\n", i, nas.getState().d);
+
+ nas.correctMag(mag[i]);
+ nas.correctPitot(pitot[i].airspeed);
+
+ // Get the results
+ x_curr = NASState(i, nas.getX());
+
+ checkStates(i, x_curr, nasInputs[i+1]);
+ }
+}
+
+void checkStates(uint32_t i, const NASState &x_curr, const NASState &x_i)
+{
+ static const float marginN = 0.05;
+ static const float marginE = 0.05;
+ static const float marginD = 0.05;
+ static const float marginVN = 0.05;
+ static const float marginVE = 0.05;
+ static const float marginVD = 0.05;
+ static const float marginQ = 0.02;
+ static const float marginB = 0.01;
+
+ if (x_curr.n != Approx(x_i.n).margin(marginN))
+ {
+ FAIL("The estimated n differs from the correct one ["
+ << i << "]: " << x_curr.n << " != " << x_i.n);
+ }
+ if (x_curr.e != Approx(x_i.e).margin(marginE))
+ {
+ FAIL("The estimated e differs from the correct one ["
+ << i << "]: " << x_curr.e << " != " << x_i.e);
+ }
+ if (x_curr.d != Approx(x_i.d).margin(marginD))
+ {
+ FAIL("The estimated d differs from the correct one ["
+ << i << "]: " << x_curr.d << " != " << x_i.d);
+ }
+ if (x_curr.vn != Approx(x_i.vn).margin(marginVN))
+ {
+ FAIL("The estimated vn differs from the correct one ["
+ << i << "]: " << x_curr.vn << " != " << x_i.vn);
+ }
+ if (x_curr.ve != Approx(x_i.ve).margin(marginVE))
+ {
+ FAIL("The estimated ve differs from the correct one ["
+ << i << "]: " << x_curr.ve << " != " << x_i.ve);
+ }
+ if (x_curr.vd != Approx(x_i.vd).margin(marginVD))
+ {
+ FAIL("The estimated vd differs from the correct one ["
+ << i << "]: " << x_curr.vd << " != " << x_i.vd);
+ }
+ if (x_curr.qx != Approx(x_i.qx).margin(marginQ))
+ {
+ FAIL("The estimated qx differs from the correct one ["
+ << i << "]: " << x_curr.qx << " != " << x_i.qx);
+ }
+ if (x_curr.qy != Approx(x_i.qy).margin(marginQ))
+ {
+ FAIL("The estimated qy differs from the correct one ["
+ << i << "]: " << x_curr.qy << " != " << x_i.qy);
+ }
+ if (x_curr.qz != Approx(x_i.qz).margin(marginQ))
+ {
+ FAIL("The estimated qz differs from the correct one ["
+ << i << "]: " << x_curr.qz << " != " << x_i.qz);
+ }
+ if (x_curr.qw != Approx(x_i.qw).margin(marginQ))
+ {
+ FAIL("The estimated qw differs from the correct one ["
+ << i << "]: " << x_curr.qw << " != " << x_i.qw);
+ }
+ if (x_curr.bx != Approx(x_i.bx).margin(marginQ))
+ {
+ FAIL("The estimated bx differs from the correct one ["
+ << i << "]: " << x_curr.bx << " != " << x_i.bx);
+ }
+ if (x_curr.by != Approx(x_i.by).margin(marginQ))
+ {
+ FAIL("The estimated by differs from the correct one ["
+ << i << "]: " << x_curr.by << " != " << x_i.by);
+ }
+ if (x_curr.bz != Approx(x_i.bz).margin(marginQ))
+ {
+ FAIL("The estimated bz differs from the correct one ["
+ << i << "]: " << x_curr.bz << " != " << x_i.bz);
+ }
+}