diff --git a/.vscode/settings.json b/.vscode/settings.json
index fa393981b857a5dbcae6300ee78bf8cd29a623cb..913e2a03b8303d3afad4ae27c15a072d904bb9f1 100644
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -231,6 +231,7 @@
"microcontrollers",
"Microstep",
"Microsteps",
+ "millideg",
"MINC",
"miosix",
"mkdir",
@@ -274,8 +275,8 @@
"RFOM",
"Riccardo",
"RQCP",
- "RXCRCR",
"Rssi",
+ "RXCRCR",
"RXIRQ",
"RXNE",
"RXNEIE",
diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 722485c9402fd1ae259767a39b813f7362e0e27e..d60b89470905157c89b5f3e8a13ea23a308336cb 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -57,17 +57,6 @@ NAS::NAS(NASConfig config) : config(config)
// clang-format on
}
- // GPS
- {
- H_gps = Matrix<float, 4, 6>::Zero();
- H_gps.coeffRef(0, 0) = 1;
- H_gps.coeffRef(1, 1) = 1;
- H_gps.coeffRef(2, 3) = 1;
- H_gps.coeffRef(3, 4) = 1;
- H_gps_tr = H_gps.transpose();
- R_gps << config.SIGMA_GPS * Matrix<float, 4, 4>::Identity();
- }
-
// Utility matrixes
R_acc << config.SIGMA_ACC * Matrix3f::Identity();
R_mag << config.SIGMA_MAG * Matrix3f::Identity();
@@ -190,6 +179,39 @@ void NAS::correctBaro(const float pressure)
void NAS::correctGPS(const Vector4f& gps)
{
+
+ // GPS
+ H_gps = Matrix<float, 4, 6>::Zero();
+ H_gps.coeffRef(0, 0) = 1000 / a;
+ H_gps.coeffRef(0, 1) = 0;
+ H_gps.coeffRef(1, 0) =
+ (1000000.0 * x(1) *
+ sin((1000.0 * reference.refLatitude + (1000.0 * x(0)) / a) *
+ Constants::DEGREES_TO_RADIANS)) /
+ (a * b *
+ pow(cos((1000.0 * reference.refLatitude + (1000.0 * x(0)) / a) *
+ Constants::DEGREES_TO_RADIANS),
+ 2));
+ H_gps.coeffRef(1, 1) =
+ 1000 / (b * cos((1000 * reference.refLatitude + (1000 * x(0)) / a) *
+ Constants::DEGREES_TO_RADIANS));
+ H_gps.coeffRef(2, 3) = 1;
+ H_gps.coeffRef(3, 4) = 1;
+
+ H_gps_tr = H_gps.transpose();
+
+ Matrix<float, 1, 4> R_molt = {1, 1, gps(2) > 1 ? gps(2) : 1,
+ gps(3) > 1 ? gps(3) : 1};
+ Matrix<float, 4, 4> R_gps = Matrix<float, 4, 4>::Zero();
+ for (int i = 0; i < 4; i++)
+ {
+ for (int j = 0; j < 4; j++)
+ {
+ R_gps(i, j) =
+ config.SIGMA_GPS.asDiagonal().toDenseMatrix()(i, j) * R_molt(j);
+ }
+ }
+
Matrix<float, 6, 6> Pl = P.block<6, 6>(0, 0);
Matrix<float, 4, 4> S = H_gps * Pl * H_gps_tr + R_gps;
@@ -198,10 +220,13 @@ void NAS::correctGPS(const Vector4f& gps)
P.block<6, 6>(0, 0) = (Matrix<float, 6, 6>::Identity() - K * H_gps) * Pl;
// Current state [n e vn ve]
- Matrix<float, 4, 1> H{x(0), x(1), x(3), x(4)};
+ float lat = x(0) / a + reference.refLatitude;
+ float lon = x(1) / (b * cos(lat * Constants::DEGREES_TO_RADIANS)) +
+ reference.refLongitude;
+ Matrix<float, 4, 1> z{lat, lon, x(3), x(4)};
// Update the state
- x.head<6>() = x.head<6>() + K * (gps - H);
+ x.head<6>() = x.head<6>() + K * (gps - z);
}
void NAS::correctGPS(const GPSData& gps)
@@ -209,12 +234,8 @@ void NAS::correctGPS(const GPSData& gps)
if (!gps.fix)
return;
- auto gpsPos = Aeroutils::geodetic2NED(
- {gps.latitude, gps.longitude},
- {reference.refLatitude, reference.refLongitude});
-
- correctGPS(
- Vector4f{gpsPos(0), gpsPos(1), gps.velocityNorth, gps.velocityEast});
+ correctGPS(Vector4f{gps.latitude, gps.longitude, gps.velocityNorth,
+ gps.velocityEast});
}
void NAS::correctMag(const Vector3f& mag)
@@ -278,7 +299,7 @@ void NAS::correctAcc(const Vector3f& acc)
Matrix<float, 3, 6> H;
H << M, Matrix3f::Zero(3, 3);
Matrix<float, 6, 6> Pq = P.block<6, 6>(IDX_QUAT, IDX_QUAT);
- Matrix<float, 3, 3> S = H * Pq * H.transpose() + R_acc;
+ Matrix<float, 3, 3> S = H * Pq * H.transpose() + R_acc;
Matrix<float, 6, 3> K = Pq * H.transpose() * S.inverse();
Matrix<float, 6, 1> dx = K * (acc - aEst);
diff --git a/src/shared/algorithms/NAS/NAS.h b/src/shared/algorithms/NAS/NAS.h
index 56f7d8bc12c487bb01455ebfe8b3c4c9dc31898c..9b2af25ab735c206fae3be484a15aa876c31edd1 100644
--- a/src/shared/algorithms/NAS/NAS.h
+++ b/src/shared/algorithms/NAS/NAS.h
@@ -184,6 +184,9 @@ private:
///< NED gravity vector [m/s^2].
const Eigen::Vector3f gravityNed{0.0f, 0.0f, -Constants::g};
+ const float a = 111132.95225; ///< Constants used in GPS correction(lat)
+ const float b = 111412.87733; ///< Constants used in GPS correction(lon)
+
// Utility matrixes used for the gps
Eigen::Matrix<float, 4, 6> H_gps;
Eigen::Matrix<float, 6, 4> H_gps_tr;
diff --git a/src/shared/algorithms/NAS/NASConfig.h b/src/shared/algorithms/NAS/NASConfig.h
index f82d12112c7cbd22ec027bc56ebb7671e1362bc8..9c3338907fd49529b5a535f0f06213c65e662707 100644
--- a/src/shared/algorithms/NAS/NASConfig.h
+++ b/src/shared/algorithms/NAS/NASConfig.h
@@ -29,13 +29,15 @@ namespace Boardcore
struct NASConfig
{
- float T; ///< [s] Sample period
- float SIGMA_BETA; ///< [rad/s^2] Estimated gyroscope bias variance
- float SIGMA_W; ///< [rad^2] Estimated gyroscope variance
- float SIGMA_ACC; ///< [uT^2] Estimated accelerometer variance
- float SIGMA_MAG; ///< [uT^2] Estimated magnetometer variance
- float SIGMA_GPS; ///< [m^2] Estimated GPS variance
- float SIGMA_BAR; ///< [m^2] Estimated altitude variance
+ float T; ///< [s] Sample period
+ float SIGMA_BETA; ///< [rad/s^2] Estimated gyroscope bias variance
+ float SIGMA_W; ///< [rad^2] Estimated gyroscope variance
+ float SIGMA_ACC; ///< [uT^2] Estimated accelerometer variance
+ float SIGMA_MAG; ///< [uT^2] Estimated magnetometer variance
+ Eigen::Vector4f SIGMA_GPS; ///< [millideg^2, millideg^2, m^2/s^2, m^2/s^2]
+ ///< estimated GPS variance. position from test,
+ ///< velocity from datasheet
+ float SIGMA_BAR; ///< [m^2] Estimated altitude variance
float SIGMA_POS; ///< [m^2] Estimated variance of the position noise
float SIGMA_VEL; ///< [(m/s)^2] Estimated variance of the velocity noise
float SIGMA_PITOT; ///< [Pa^2] Estimated variance of the pitot velocity
diff --git a/src/shared/algorithms/NAS/NASPredictionSteps.h b/src/shared/algorithms/NAS/NASPredictionSteps.h
new file mode 100644
index 0000000000000000000000000000000000000000..df28f1ee4c68485355b3379df2f9b97a7a94b060
--- /dev/null
+++ b/src/shared/algorithms/NAS/NASPredictionSteps.h
@@ -0,0 +1,69 @@
+/* Copyright (c) 2022 Skyward Experimental Rocketry
+ * Author: Alberto Nidasio
+ *
+ * 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.
+ */
+
+#pragma once
+
+namespace Boardcore
+{
+
+struct NASPredictionSteps
+{
+ float acc_x;
+ float acc_y;
+ float acc_z;
+ float acc_vx;
+ float acc_vy;
+ float acc_vz;
+ float gyro_gx;
+ float gyro_gy;
+ float gyro_gz;
+ float gyro_gw;
+ float gyro_gbx;
+ float gyro_gby;
+ float gyro_gbz;
+ float gps_x;
+ float gps_y;
+ float gps_z;
+ float gps_vx;
+ float gps_vy;
+ float gps_vz;
+ float baro_x;
+ float baro_y;
+ float baro_z;
+ float baro_vx;
+ float baro_vy;
+ float baro_vz;
+ float mag_gx;
+ float mag_gy;
+ float mag_gz;
+ float mag_gw;
+ float mag_gbx;
+ float mag_gby;
+ float mag_gbz;
+ float pitot_x;
+ float pitot_y;
+ float pitot_z;
+ float pitot_vx;
+ float pitot_vy;
+ float pitot_vz;
+};
+} // namespace Boardcore
\ No newline at end of file
diff --git a/src/shared/algorithms/ReferenceValues.h b/src/shared/algorithms/ReferenceValues.h
index 62dcddd507a8e2d35b8818966271976e4f35ae8e..bb470bb68fcc15f65ee94248c394317bfe763d88 100644
--- a/src/shared/algorithms/ReferenceValues.h
+++ b/src/shared/algorithms/ReferenceValues.h
@@ -39,8 +39,8 @@ struct ReferenceValues
float refAltitude;
float refPressure;
float refTemperature;
- float refLatitude;
- float refLongitude;
+ float refLatitude; /// < [deg]
+ float refLongitude; /// < [deg]
// Pressure and temperature at mean sea level for altitude calculation
float mslPressure = Constants::MSL_PRESSURE;
diff --git a/src/tests/catch/nas/data/acc.h b/src/tests/catch/nas/data/acc/acc.h
similarity index 70%
rename from src/tests/catch/nas/data/acc.h
rename to src/tests/catch/nas/data/acc/acc.h
index 9b54a2db78a4398cbc6acdc40fa94a1bc74deef7..d8b02b0d0b6f1e0004292f9d37fc9f4ebb1262a7 100644
--- a/src/tests/catch/nas/data/acc.h
+++ b/src/tests/catch/nas/data/acc/acc.h
@@ -23,7722 +23,7591 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-AccelerometerData acc[] = {
+AccelerometerData acc_acc[] = {
{
20000,
- 0.38799,
- -0.02395,
- -0.02395,
+ 5.7433,
+ -0.03832,
+ -0.03353,
},
{
40000,
- 4.4164,
- 0.0095801,
- -0.00479,
+ 10.7728,
+ -0.02395,
+ -0.0479,
},
{
60000,
- 21.8905,
- -0.05269,
- 0.03832,
+ 15.8407,
+ -0.01437,
+ 0.05269,
},
{
80000,
- 28.2181,
- -0.01437,
- 0,
+ 20.9085,
+ -0.062271,
+ 0.03353,
},
{
100000,
- 32.1172,
- 0.04311,
+ 25.986,
+ -0.0479,
0.00479,
},
{
120000,
- 37.1611,
- 0.01916,
- 0.0095801,
+ 31.0874,
+ -0.02874,
+ 0.02874,
},
{
140000,
- 45.3281,
- -0.02395,
- 0.01437,
+ 36.2175,
+ -0.01437,
+ -0.00479,
},
{
160000,
- 52.5132,
- 0.01916,
- -0.0479,
+ 41.2949,
+ 0.02874,
+ 0.062271,
},
{
180000,
- 54.161,
- 0.01916,
- 0.04311,
+ 46.3772,
+ 0.05748,
+ 0.00479,
},
{
200000,
- 54.5011,
- 0.05748,
- 0.01437,
+ 51.56,
+ 0.03353,
+ -0.02395,
},
{
220000,
- 54.8268,
- -0.03832,
- -0.03353,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
},
{
240000,
- 54.8747,
- 0.02395,
+ 61.8155,
+ -0.01437,
0.00479,
},
{
259999,
- 54.8747,
+ 66.9312,
0.00479,
- -0.0095801,
+ -0.04311,
},
{
280000,
- 54.7358,
- 0.00479,
- -0.04311,
+ 72.0039,
+ -0.05269,
+ 0,
},
{
300000,
- 54.2951,
+ 72.2577,
0.01437,
- -0.00479,
+ -0.01916,
},
{
320000,
- 53.84,
- 0.05269,
- 0.00479,
+ 71.5871,
+ 0.01916,
+ 0.05748,
},
{
340000,
- 53.2078,
- 0.062271,
- -0.0095801,
+ 70.9357,
+ 0.02874,
+ 0.03353,
},
{
360000,
- 53.0018,
- -0.00479,
- 0.02874,
+ 70.2986,
+ 0,
+ -0.02395,
},
{
380000,
- 52.8389,
- 0.0479,
- 0.00479,
+ 69.6663,
+ 0.04311,
+ -0.04311,
},
{
400000,
- 52.8006,
- 0,
- -0.05269,
+ 69.1059,
+ -0.067061,
+ 0.00479,
},
{
420000,
- 52.494,
- -0.01437,
- 0,
+ 68.5455,
+ 0.01437,
+ 0.02395,
},
{
440000,
- 52.0869,
- 0.04311,
- -0.00479,
+ 68.0138,
+ 0.03832,
+ 0.05748,
},
{
460000,
- 51.8091,
+ 67.5491,
+ -0.03832,
0.01916,
- 0.02874,
},
{
480000,
- 51.6749,
- -0.04311,
- 0.03353,
+ 67.0653,
+ 0.0479,
+ 0.04311,
},
{
500000,
- 51.6845,
- 0.00479,
+ 66.6342,
0.0095801,
+ 0.04311,
},
{
519999,
- 51.6702,
+ 66.2031,
-0.03832,
- 0.0095801,
+ 0,
},
{
540000,
- 51.8091,
- 0.05269,
- -0.03353,
+ 65.8247,
+ -0.0095801,
+ -0.00479,
},
{
560000,
- 51.8713,
+ 65.4224,
+ 0.02395,
0.0095801,
- -0.0095801,
},
{
580000,
- 51.7995,
- -0.081431,
- 0.00479,
+ 65.0535,
+ -0.0479,
+ 0.01437,
},
{
600000,
- 52.0102,
- -0.03353,
- 0.03353,
+ 64.7661,
+ -0.01916,
+ 0.01437,
},
{
620000,
- 52.0438,
- 0.03353,
- 0.0095801,
+ 64.4691,
+ -0.086221,
+ 0.01437,
},
{
640000,
- 52.1204,
- -0.02395,
+ 64.1482,
+ 0.01437,
-0.0095801,
},
{
660000,
- 52.2641,
- -0.00479,
- -0.0095801,
+ 63.971,
+ 0.0095801,
+ -0.03832,
},
{
680000,
- 52.2306,
- 0.0479,
- 0.0479,
+ 63.6788,
+ 0,
+ 0.00479,
},
{
700000,
- 52.2162,
- 0.00479,
- -0.00479,
+ 63.4297,
+ 0.0095801,
+ -0.02395,
},
{
720000,
- 52.221,
- -0.01437,
- 0.02874,
+ 63.2333,
+ -0.0095801,
+ 0.00479,
},
{
740000,
- 52.3168,
- 0.01916,
- 0.01437,
+ 63.0992,
+ -0.02395,
+ -0.0095801,
},
{
760000,
- 52.6329,
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+ 62.9363,
+ 0.04311,
+ -0.0479,
},
{
780000,
- 52.5946,
- -0.25866,
- -0.071851,
+ 62.807,
+ -0.02395,
+ 0.0095801,
},
{
800000,
- 52.6809,
- -0.22034,
- -0.091011,
+ 62.6872,
+ -0.02874,
+ -0.03353,
},
{
820000,
- 53.1167,
- -0.22992,
- -0.03353,
+ 62.5914,
+ 0.01916,
+ -0.0095801,
},
{
840000,
- 53.1215,
- -0.28261,
+ 62.5052,
+ 0,
-0.02395,
},
{
860000,
- 53.1886,
- -0.29219,
- -0.05748,
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+ 0.03832,
+ -0.0479,
},
{
880000,
- 53.1934,
- -0.20118,
- -0.076641,
+ 62.3807,
+ -0.02874,
+ -0.03832,
},
{
900000,
- 53.1742,
- -0.25866,
- -0.076641,
+ 62.3519,
+ -0.01916,
+ -0.02395,
},
{
920000,
- 53.1407,
- -0.30177,
- -0.086221,
+ 62.3903,
+ 0.03832,
+ -0.03353,
},
{
940000,
- 52.8916,
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- -0.03832,
+ 62.4286,
+ 0.02395,
+ -0.00479,
},
{
960000,
- 52.8629,
- -0.26824,
- -0.02874,
+ 62.4334,
+ -0.03353,
+ -0.04311,
},
{
980000,
- 52.9012,
- -0.30177,
- -0.062271,
+ 62.5579,
+ -0.01437,
+ -0.05748,
},
{
1000000,
- 52.882,
- -0.33051,
- -0.091011,
+ 62.5723,
+ 0.02395,
+ -0.0479,
},
{
1020000,
- 52.8772,
- -0.2874,
- -0.11017,
+ 62.7304,
+ -0.01437,
+ -0.03353,
},
{
1039999,
- 52.973,
- -0.32093,
- -0.091011,
+ 62.7974,
+ 0.01437,
+ -0.03832,
},
{
1060000,
- 53.1646,
- -0.26824,
- -0.12454,
+ 62.8118,
+ -0.00479,
+ -0.091011,
},
{
1080000,
- 53.4185,
- -0.3353,
- -0.071851,
+ 63.0609,
+ 0.0479,
+ -0.05748,
},
{
1100000,
- 53.6293,
- -0.31614,
- -0.10059,
+ 63.1136,
+ -0.02874,
+ -0.02874,
},
{
1120000,
- 53.9071,
- -0.30177,
+ 63.262,
+ 0.00479,
-0.062271,
},
{
1140000,
- 53.9263,
- -0.32572,
- -0.10538,
+ 63.4345,
+ 0.02395,
+ -0.086221,
},
{
1160000,
- 54.3669,
- -0.27782,
- -0.1437,
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+ 0.02874,
+ -0.12454,
},
{
1180000,
- 54.731,
- -0.35925,
- -0.091011,
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+ 0.01916,
+ -0.095801,
},
{
1200000,
- 54.7741,
- -0.24908,
- -0.13412,
+ 63.8512,
+ 0.02395,
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},
{
1220000,
- 54.8268,
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+ -0.03353,
+ -0.071851,
},
{
1240000,
- 55.0711,
- -0.27303,
- -0.13412,
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+ 0.01916,
+ -0.12454,
},
{
1260000,
- 55.665,
- -0.26824,
- -0.20118,
+ 64.3733,
+ 0.0479,
+ -0.081431,
},
{
1280000,
- 56.8817,
- -0.21076,
- -0.086221,
+ 64.517,
+ 0.03832,
+ -0.091011,
},
{
1300000,
- 57.4565,
- -0.28261,
- -0.15807,
+ 64.6799,
+ 0.02395,
+ -0.10538,
},
{
1320000,
- 57.4805,
- -0.25866,
- -0.10538,
+ 64.8523,
+ -0.00479,
+ -0.12454,
},
{
1340000,
- 57.5811,
- -0.23471,
- -0.095801,
+ 65.0344,
+ 0.04311,
+ -0.11017,
},
{
1360000,
- 57.9882,
- -0.2395,
- -0.10059,
+ 65.1493,
+ -0.00479,
+ -0.11496,
},
{
1380000,
- 58.017,
- -0.18202,
- -0.067061,
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{
24720000,
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{
24800000,
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24840000,
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24880000,
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24900000,
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24980000,
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25000000,
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{
25020000,
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{
25040000,
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{
25060000,
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25080000,
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25100000,
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25120000,
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25140000,
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- {
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diff --git a/src/tests/catch/nas/data/baro.h b/src/tests/catch/nas/data/acc/baro.h
similarity index 60%
rename from src/tests/catch/nas/data/baro.h
rename to src/tests/catch/nas/data/acc/baro.h
index 8a3e8a2a195eca5b7fe8a968fbb6b52221f28570..f0d5ede9568137070f55b5c17f14dfbb3d652a76 100644
--- a/src/tests/catch/nas/data/baro.h
+++ b/src/tests/catch/nas/data/acc/baro.h
@@ -23,5152 +23,5065 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-PressureData baro[] = {
+PressureData acc_baro[] = {
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+ 99449.4766,
},
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300000,
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1000000,
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1020000,
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1060000,
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1140000,
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1160000,
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1180000,
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1220000,
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1240000,
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1260000,
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1280000,
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1300000,
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1320000,
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1340000,
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1360000,
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1380000,
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1400000,
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{
1420000,
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1440000,
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1460000,
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1480000,
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1500000,
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1520000,
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1540000,
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1560000,
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1580000,
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1620000,
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1640000,
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{
1660000,
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{
1680000,
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{
1700000,
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{
1720000,
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{
1740000,
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{
1760000,
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},
{
1780000,
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{
1800000,
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},
{
1820000,
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},
{
1840000,
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},
{
1860000,
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{
1880000,
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},
{
1900000,
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},
{
1920000,
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},
{
1940000,
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},
{
1960000,
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+ 98377.2812,
},
{
1980000,
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},
{
2000000,
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},
{
2020000,
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},
{
2040000,
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},
{
2060000,
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},
{
2079999,
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},
{
2100000,
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},
{
2120000,
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},
{
2140000,
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},
{
2160000,
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},
{
2180000,
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},
{
2200000,
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},
{
2220000,
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},
{
2240000,
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},
{
2260000,
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},
{
2280000,
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},
{
2300000,
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{
2320000,
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},
{
2340000,
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{
2360000,
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{
2380000,
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{
2400000,
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},
{
2420000,
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{
2440000,
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},
{
2460000,
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},
{
2480000,
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{
2500000,
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{
2520000,
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{
2540000,
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2560000,
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{
2580000,
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2600000,
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2620000,
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2640000,
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2660000,
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2680000,
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{
2700000,
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2720000,
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{
2740000,
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{
2760000,
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{
2780000,
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{
2800000,
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{
2820000,
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{
2840000,
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{
2860000,
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{
2880000,
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{
2900000,
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{
2920000,
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{
2940000,
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{
2960000,
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2980000,
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3000000,
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3020000,
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3040000,
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3060000,
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3080000,
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3100000,
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3120000,
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3140000,
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3160000,
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3180000,
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3240000,
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3260000,
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3280000,
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3300000,
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3320000,
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- 68850.3281,
+ 68684.9062,
},
{
24780000,
- 68799.375,
+ 68537.9062,
},
{
24800000,
- 68698.7188,
+ 68723.9375,
},
{
24820000,
- 68602.3047,
+ 68710.6328,
},
{
24840000,
- 68664.8047,
+ 68583.0859,
},
{
24860000,
- 68957.7656,
+ 68815.8594,
},
{
24880000,
- 68742.0703,
+ 68590.2344,
},
{
24900000,
- 68712.2656,
+ 68668.0547,
},
{
24920000,
- 68856.4922,
+ 68712.1406,
},
{
24940000,
- 68945.5234,
+ 68736.4609,
},
{
24960000,
- 68717.75,
+ 68620.9453,
},
{
24980000,
- 68725.625,
+ 68783.9531,
},
{
25000000,
- 68688.1172,
+ 68739.7031,
},
{
25020000,
- 68764.2656,
+ 68666.4609,
},
{
25040000,
- 68910.2812,
+ 68739.8125,
},
{
25060000,
- 68611.1328,
+ 68606.4453,
},
{
25080000,
- 68732.3594,
+ 68717.0234,
},
{
25100000,
- 68697.1953,
+ 68608.5391,
},
{
25120000,
- 68740.1016,
+ 68598.1641,
},
{
25140000,
- 68728.0938,
+ 68638.9062,
},
{
25160000,
- 68920.4688,
+ 68554.3203,
},
{
25180000,
- 68722.8906,
+ 68777.2812,
},
{
25200000,
- 68906.5547,
+ 68551.6016,
},
{
25220000,
- 68572.9062,
+ 68487.2188,
},
{
25240000,
- 68993.9844,
+ 68627.9453,
},
{
25260000,
- 68784.9531,
- },
- {
- 25280000,
- 68548.9297,
- },
- {
- 25300000,
- 68815.9922,
- },
- {
- 25320000,
- 68654.6172,
- },
- {
- 25340000,
- 68619.1172,
- },
- {
- 25360000,
- 68577.8906,
- },
- {
- 25380000,
- 68794.8047,
- },
- {
- 25400000,
- 68834.4219,
- },
- {
- 25420000,
- 68809.0703,
- },
- {
- 25440000,
- 68534.4453,
- },
- {
- 25460000,
- 68587.4453,
- },
- {
- 25480000,
- 68782.6328,
- },
- {
- 25500000,
- 68769.1719,
- },
- {
- 25520000,
- 68808.8438,
- },
- {
- 25540000,
- 68842.5469,
- },
- {
- 25560000,
- 68542.7734,
- },
- {
- 25580000,
- 68666.8203,
- },
- {
- 25600000,
- 68640.4922,
- },
- {
- 25620000,
- 68719.1562,
- },
- {
- 25640000,
- 68667.2422,
- },
- {
- 25660000,
- 68673.7266,
- },
- {
- 25680000,
- 68687.2891,
- },
- {
- 25700000,
- 68789.8359,
+ 68508.6172,
},
};
diff --git a/src/tests/catch/nas/data/acc/config.h b/src/tests/catch/nas/data/acc/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..786ca5663972fd2f7b8d3b30954b1ae66ca398d5
--- /dev/null
+++ b/src/tests/catch/nas/data/acc/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig acc_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/acc/gps.h b/src/tests/catch/nas/data/acc/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..c1bdcf4e553a112cea35521e90d70e51dc391338
--- /dev/null
+++ b/src/tests/catch/nas/data/acc/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData acc_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 100000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 120000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 140000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 160000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 180000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 200000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 220000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 240000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 259999,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 280000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 300000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 320000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 340000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 360000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 380000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 400000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 420000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 440000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 460000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 480000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 500000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 519999,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 540000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 560000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 580000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 600000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 620000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 640000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 660000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 680000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 700000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 720000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 740000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 760000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 780000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 800000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 820000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 840000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 860000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 880000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 900000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 920000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 940000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 960000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 980000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1000000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1020000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1039999,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1060000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1080000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1100000,
+ 39.3891,
+ -8.2879,
+ -25.5,
+ -4.0029,
+ 4.3081,
+ -52.598,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1120000,
+ 39.3891,
+ -8.2879,
+ -25.5,
+ -4.0029,
+ 4.3081,
+ -52.598,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1140000,
+ 39.3891,
+ -8.2879,
+ -25.5,
+ -4.0029,
+ 4.3081,
+ -52.598,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1160000,
+ 39.3891,
+ -8.2879,
+ -25.5,
+ -4.0029,
+ 4.3081,
+ -52.598,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1180000,
+ 39.3891,
+ -8.2879,
+ -25.5,
+ -4.0029,
+ 4.3081,
+ -52.598,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1200000,
+ 39.3891,
+ -8.2879,
+ -28.5,
+ -4.4925,
+ 4.8682,
+ -57.9563,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1220000,
+ 39.3891,
+ -8.2879,
+ -28.5,
+ -4.4925,
+ 4.8682,
+ -57.9563,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1240000,
+ 39.3891,
+ -8.2879,
+ -28.5,
+ -4.4925,
+ 4.8682,
+ -57.9563,
+ 0,
+ 0,
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+ 17.2991,
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+ },
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 24900000,
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+ },
+ {
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+ },
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+ },
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+ },
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+ 16,
+ 3,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gyro.h b/src/tests/catch/nas/data/acc/gyro.h
similarity index 59%
rename from src/tests/catch/nas/data/gyro.h
rename to src/tests/catch/nas/data/acc/gyro.h
index 343ffb301f023606bcfd5f40a83eef992ebd33dc..45c640c05b917bb1a2ede92b735f0329c67c3266 100644
--- a/src/tests/catch/nas/data/gyro.h
+++ b/src/tests/catch/nas/data/acc/gyro.h
@@ -23,7722 +23,7591 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-GyroscopeData gyro[] = {
+GyroscopeData acc_gyro[] = {
{
20000,
0,
- 0,
+ 0.00013049,
-0.00013049,
},
{
40000,
+ 0.00013049,
0,
0,
- 0.00026099,
},
{
60000,
0,
- 0.00013049,
0,
+ 0.00013049,
},
{
80000,
- -0.00013049,
- 0,
- -0.00013049,
+ 0.00013049,
+ -0.00026099,
+ -0.00026099,
},
{
100000,
+ 0,
+ 0,
-0.00026099,
- 0.00026099,
- 0.00013049,
},
{
120000,
-0.00013049,
- 0,
- 0.00013049,
+ -0.00013049,
+ -0.00013049,
},
{
140000,
- -0.00026099,
- 0,
0.00013049,
+ 0.00013049,
+ 0,
},
{
160000,
+ -0.00013049,
0,
0.00013049,
- 0,
},
{
180000,
0.00013049,
- 0.00013049,
- 0,
+ -0.00013049,
+ -0.00026099,
},
{
200000,
0.00013049,
+ -0.00013049,
0.00013049,
- 0,
},
{
220000,
0,
- 0.00026099,
- 0,
+ -0.00026099,
+ -0.00026099,
},
{
240000,
0.00013049,
+ 0.00026099,
-0.00013049,
- 0,
},
{
259999,
- 0.00013049,
- 0.00013049,
+ -0.00013049,
0,
+ 0.00013049,
},
{
280000,
0,
+ 0.00026099,
0.00013049,
- 0,
},
{
300000,
- 0,
- 0,
- 0.00013049,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
},
{
320000,
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- 0,
+ 0.00013049,
+ 0.00026099,
0,
},
{
340000,
0,
- 0.00013049,
- -0.00013049,
+ 0,
+ 0,
},
{
360000,
0.00013049,
- -0.00013049,
+ 0,
0,
},
{
380000,
+ -0.00013049,
0,
- 0.00026099,
0,
},
{
400000,
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- 0.00013049,
- 0.00013049,
+ 0,
+ 0,
},
{
420000,
- -0.00013049,
- 0,
0.00013049,
+ -0.00013049,
+ -0.00013049,
},
{
440000,
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- 0,
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},
{
460000,
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+ 0.00013049,
},
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480000,
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{
500000,
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},
{
519999,
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+ 0,
+ 0,
0,
},
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540000,
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},
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560000,
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0.00013049,
},
{
580000,
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0,
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+ 0,
+ 0.00013049,
},
{
600000,
- 0,
0.00013049,
0,
+ 0.00013049,
},
{
620000,
- 0,
+ -0.00013049,
+ -0.00026099,
0.00013049,
- 0,
},
{
640000,
- 0,
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- 0,
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},
{
660000,
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0,
- 0.00013049,
},
{
680000,
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},
{
700000,
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- 0,
},
{
720000,
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0.00013049,
- 0,
},
{
740000,
- 0.00026099,
- 0,
-0.00013049,
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},
{
760000,
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},
{
780000,
- -0.017356,
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- 0.0032624,
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},
{
800000,
- -0.030275,
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- 0.0058723,
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+ 0,
},
{
820000,
- -0.043846,
- -0.0011745,
- 0.0087432,
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},
{
840000,
- -0.05807,
- -0.0016964,
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+ 0.00026099,
},
{
860000,
- -0.073077,
- -0.0019574,
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},
{
880000,
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},
{
900000,
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+ 0,
},
{
920000,
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},
{
940000,
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},
{
960000,
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- 0.028578,
+ 0.00013049,
+ -0.0022184,
+ 0,
},
{
980000,
- -0.11731,
- -0.0067857,
- 0.03171,
+ 0,
+ -0.0026099,
+ -0.00013049,
},
{
1000000,
- -0.11784,
- -0.0076992,
- 0.034973,
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+ -0.0031319,
+ -0.00013049,
},
{
1020000,
- -0.11914,
- -0.0088737,
- 0.037844,
+ 0,
+ -0.0036539,
+ 0,
},
{
1039999,
- -0.11979,
- -0.0099176,
- 0.040975,
+ 0,
+ -0.0041758,
+ 0.00013049,
},
{
1060000,
- -0.1211,
- -0.011092,
- 0.044107,
+ 0,
+ -0.0046978,
+ 0.00013049,
},
{
1080000,
- -0.12201,
- -0.012267,
- 0.047109,
+ 0,
+ -0.0050893,
+ -0.00013049,
},
{
1100000,
- -0.12345,
- -0.013571,
- 0.050241,
+ 0,
+ -0.0060028,
+ 0,
},
{
1120000,
- -0.12462,
- -0.014746,
- 0.053372,
+ 0,
+ -0.0063942,
+ -0.00013049,
},
{
1140000,
- -0.12593,
- -0.016181,
- 0.056243,
+ 0,
+ -0.0071772,
+ 0.00013049,
},
{
1160000,
- -0.1271,
- -0.017356,
- 0.059375,
+ 0,
+ -0.0079602,
+ -0.00013049,
},
{
1180000,
- -0.1288,
- -0.019052,
- 0.061985,
+ 0.00013049,
+ -0.0083517,
+ -0.00013049,
},
{
1200000,
- -0.13049,
- -0.020749,
- 0.064856,
+ 0.00026099,
+ -0.0095261,
+ 0,
},
{
1220000,
- -0.13193,
- -0.021662,
- 0.067466,
+ 0,
+ -0.010179,
+ 0.00013049,
},
{
1240000,
- -0.13389,
- -0.023098,
- 0.070337,
+ -0.00013049,
+ -0.011092,
+ -0.00013049,
},
{
1260000,
- -0.13532,
- -0.024794,
- 0.072816,
+ 0,
+ -0.011875,
+ -0.00013049,
},
{
1280000,
- -0.1365,
- -0.02636,
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+ 0.00013049,
+ -0.012788,
+ 0,
},
{
1300000,
- -0.1335,
- -0.027534,
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},
{
1320000,
- -0.12997,
- -0.029231,
- 0.079602,
+ 0,
+ -0.014485,
+ 0,
},
{
1340000,
- -0.12671,
- -0.030144,
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+ -0.015659,
+ 0,
},
{
1360000,
- -0.12358,
- -0.03158,
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+ -0.016573,
+ 0.00013049,
},
{
1380000,
- -0.12019,
- -0.032885,
- 0.084691,
- },
- {
+ 0.00013049,
+ -0.017617,
+ -0.00026099,
+ },
+ {
1400000,
- -0.11836,
- -0.034451,
- 0.08691,
+ 0,
+ -0.017878,
+ 0,
},
{
1420000,
- -0.11679,
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},
{
1440000,
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},
{
1460000,
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},
{
1480000,
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},
{
1500000,
- -0.10949,
- -0.040714,
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},
{
1520000,
- -0.10701,
- -0.042019,
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{
1540000,
- -0.10492,
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},
{
1560000,
- -0.10283,
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+ -0.024925,
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},
{
1580000,
- -0.10126,
- -0.044368,
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},
{
1600000,
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+ -0.026099,
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},
{
1620000,
- -0.097219,
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},
{
1640000,
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},
{
1660000,
- -0.093826,
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{
1680000,
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},
{
1700000,
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},
{
1720000,
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+ 0,
},
{
1740000,
- -0.086257,
- -0.047892,
- 0.084561,
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},
{
1760000,
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{
1780000,
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{
1800000,
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{
1820000,
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{
1840000,
- -0.076731,
- -0.047892,
- 0.074382,
+ -0.00013049,
+ -0.027534,
+ 0,
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diff --git a/src/tests/catch/nas/nasData.h b/src/tests/catch/nas/data/acc/include.h
similarity index 64%
rename from src/tests/catch/nas/nasData.h
rename to src/tests/catch/nas/data/acc/include.h
index b6763b3c6fd82b6b50558a937730df6f54527900..0ababf3030cf227b80ac758ee7f993ca674074bc 100644
--- a/src/tests/catch/nas/nasData.h
+++ b/src/tests/catch/nas/data/acc/include.h
@@ -1,32 +1,42 @@
-/* Copyright (c) 2023 Skyward Experimental Rocketry
- * Author: Emilio Corigliano, Davide Basso
- *
- * 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 "data/acc.h"
-#include "data/baro.h"
-#include "data/config.h"
-#include "data/gps.h"
-#include "data/gyro.h"
-#include "data/input.h"
-#include "data/mag.h"
-#include "data/output.h"
-#include "data/pitot.h"
-#include "data/steps.h"
\ No newline at end of file
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/acc/input.h b/src/tests/catch/nas/data/acc/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..0a4470f1d8cf8d9611159865ef0e28ca377e28a2
--- /dev/null
+++ b/src/tests/catch/nas/data/acc/input.h
@@ -0,0 +1,3823 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState acc_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, -0.0071732, 0.008816, 0.081894, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {60000,
+ {-0.00014346, 0.00017632, -159.9984, -0.021533, 0.024917, 0.063718,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {-0.00057411, 0.00067466, -159.9971, -0.044622, 0.050099, -0.055049,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {-0.0014666, 0.0016766, -159.9982, -0.073977, 0.083404, -0.27466, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {-0.0029461, 0.0033447, -160.0037, -0.11039, 0.12386, -0.59532, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {-0.0051539, 0.0058219, -160.0156, -0.15468, 0.1722, -1.0174, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {-0.0082476, 0.0092659, -160.0359, -0.20605, 0.2277, -1.5416, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {-0.012369, 0.01382, -160.0668, -0.26619, 0.29135, -2.1666, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {-0.017692, 0.019647, -160.1101, -0.33322, 0.36155, -2.8929, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {-0.024357, 0.026878, -160.168, -0.40689, 0.43957, -3.7223, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {-0.032494, 0.035669, -160.2424, -0.48732, 0.5261, -4.6528, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {-0.042241, 0.046191, -160.3355, -0.57531, 0.62087, -5.6861, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {-0.053747, 0.058609, -160.4492, -0.67022, 0.72252, -6.8213, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {-0.067151, 0.073059, -160.5856, -0.77211, 0.83332, -8.0573, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {-0.082594, 0.089725, -160.7468, -0.87508, 0.94333, -9.2983, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {-0.1001, 0.10859, -160.9327, -0.97821, 1.0534, -10.5259, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {-0.11966, 0.12966, -161.1433, -1.0802, 1.1619, -11.7406, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {-0.14126, 0.1529, -161.3781, -1.1801, 1.269, -12.9427, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {-0.16487, 0.17828, -161.6369, -1.2795, 1.3743, -14.1323, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {-0.19046, 0.20577, -161.9196, -1.3771, 1.481, -15.3106, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {-0.218, 0.23538, -162.2258, -1.4754, 1.5859, -16.4778, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {-0.24751, 0.2671, -162.5553, -1.5737, 1.6902, -17.6343, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {-0.27898, 0.30091, -162.908, -1.6697, 1.7943, -18.7816, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {-0.31237, 0.33679, -163.2837, -1.7666, 1.8968, -19.9193, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {-0.34771, 0.37473, -163.6821, -1.8623, 1.9992, -21.0484, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {-0.38495, 0.41472, -164.103, -1.9562, 2.101, -22.169, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {-0.42408, 0.45674, -164.5464, -2.0498, 2.2017, -23.2821, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {-0.46507, 0.50077, -165.012, -2.1436, 2.3015, -24.3871, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {-0.50794, 0.5468, -165.4998, -2.2358, 2.4018, -25.4849, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {-0.55266, 0.59483, -166.0095, -2.3281, 2.5013, -26.5769, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {-0.59922, 0.64486, -166.541, -2.4189, 2.6013, -27.6629, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {-0.6476, 0.69689, -167.0943, -2.5105, 2.699, -28.7427, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {-0.69781, 0.75087, -167.6691, -2.6013, 2.7961, -29.819, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {-0.74983, 0.80679, -168.2655, -2.6921, 2.8936, -30.8894, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {-0.80368, 0.86466, -168.8833, -2.7824, 2.9901, -31.9549, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {-0.85932, 0.92446, -169.5224, -2.8725, 3.087, -33.0164, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {-0.91677, 0.9862, -170.1827, -2.962, 3.1836, -34.0753, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {-0.97601, 1.0499, -170.8642, -3.0517, 3.2786, -35.131, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {-1.037, 1.1154, -171.5668, -3.141, 3.3751, -36.1841, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {-1.0999, 1.1829, -172.2905, -3.2295, 3.4708, -37.2348, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {-1.1645, 1.2524, -173.0352, -3.3189, 3.5661, -38.2836, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {-1.2308, 1.3237, -173.8009, -3.4077, 3.6613, -39.3307, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {-1.299, 1.3969, -174.5875, -3.4966, 3.7555, -40.3762, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {-1.3689, 1.472, -175.395, -3.5846, 3.8508, -41.4209, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {-1.4406, 1.549, -176.2234, -3.6729, 3.946, -42.465, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {-1.5141, 1.628, -177.0728, -3.7619, 4.0404, -43.5098, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {-1.5893, 1.7088, -177.9429, -3.8512, 4.1354, -44.5553, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {-1.6663, 1.7915, -178.8341, -3.9392, 4.2307, -45.6011, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {-1.7451, 1.8761, -179.7461, -4.0274, 4.3257, -46.6493, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {-1.8257, 1.9626, -180.6791, -4.1163, 4.4204, -47.6978, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {-1.908, 2.051, -181.633, -4.2051, 4.516, -48.7494, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {-1.9921, 2.1413, -182.608, -4.2943, 4.6113, -49.8023, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {-2.078, 2.2336, -183.604, -4.3825, 4.706, -50.8557, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {-2.1656, 2.3277, -184.6212, -4.4724, 4.801, -51.9139, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {-2.2551, 2.4237, -185.6595, -4.5616, 4.8974, -52.9731, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {-2.3463, 2.5216, -186.7189, -4.651, 4.9932, -54.0354, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {-2.4393, 2.6215, -187.7996, -4.7406, 5.0886, -55.1011, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1180000,
+ {-2.5341, 2.7233, -188.9016, -4.8299, 5.1835, -56.1688, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1200000,
+ {-2.6307, 2.8269, -190.025, -4.9196, 5.2792, -57.2386, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1220000,
+ {-2.7291, 2.9325, -191.1698, -5.0098, 5.3751, -58.3126, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1240000,
+ {-2.8293, 3.04, -192.336, -5.0996, 5.4724, -59.3895, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1260000,
+ {-2.9313, 3.1495, -193.5238, -5.1897, 5.5685, -60.4708, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1280000,
+ {-3.0351, 3.2609, -194.7332, -5.2811, 5.6651, -61.5552, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1300000,
+ {-3.1407, 3.3742, -195.9643, -5.3724, 5.7619, -62.6424, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1320000,
+ {-3.2482, 3.4894, -197.2172, -5.4635, 5.8589, -63.733, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1340000,
+ {-3.3575, 3.6066, -198.4919, -5.5542, 5.9563, -64.827, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1360000,
+ {-3.4685, 3.7257, -199.7884, -5.6461, 6.0536, -65.9246, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1380000,
+ {-3.5815, 3.8468, -201.1069, -5.7374, 6.1516, -67.0245, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1400000,
+ {-3.6962, 3.9698, -202.4474, -5.8292, 6.2495, -68.1282, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1420000,
+ {-3.8128, 4.0948, -203.8099, -5.9213, 6.3475, -69.2356, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1440000,
+ {-3.9312, 4.2217, -205.1946, -6.0127, 6.447, -70.3454, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1460000,
+ {-4.0515, 4.3507, -206.6016, -6.1056, 6.5464, -71.4582, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1480000,
+ {-4.1736, 4.4816, -208.0307, -6.1989, 6.6447, -72.5739, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1500000,
+ {-4.2976, 4.6145, -209.4822, -6.291, 6.7432, -73.6918, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1520000,
+ {-4.4234, 4.7494, -210.956, -6.3838, 6.8425, -74.8129, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1540000,
+ {-4.5511, 4.8862, -212.4523, -6.4771, 6.9429, -75.936, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1560000,
+ {-4.6806, 5.0251, -213.971, -6.571, 7.0423, -77.0626, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1580000,
+ {-4.812, 5.1659, -215.5123, -6.6647, 7.1423, -78.192, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1600000,
+ {-4.9453, 5.3088, -217.0761, -6.7592, 7.2431, -79.3242, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1620000,
+ {-5.0805, 5.4536, -218.6626, -6.853, 7.3436, -80.4583, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1640000,
+ {-5.2176, 5.6005, -220.2718, -6.9474, 7.4441, -81.594, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1660000,
+ {-5.3565, 5.7494, -221.9036, -7.0435, 7.5458, -82.7318, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1680000,
+ {-5.4974, 5.9003, -223.5583, -7.1384, 7.6471, -83.8719, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1700000,
+ {-5.6401, 6.0532, -225.2357, -7.2325, 7.7484, -85.0118, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1720000,
+ {-5.7848, 6.2082, -226.9359, -7.3276, 7.8502, -86.1544, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1740000,
+ {-5.9313, 6.3652, -228.659, -7.4234, 7.9532, -87.2987, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1760000,
+ {-6.0798, 6.5243, -230.405, -7.5191, 8.056, -88.4424, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1780000,
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+ {-403.9036, 433.4877, -3147.0112, -16.8382, 18.0731, -14.0652, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23560000,
+ {-404.2403, 433.8492, -3147.2925, -16.8353, 18.07, -13.8639, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23580000,
+ {-404.577, 434.2106, -3147.5698, -16.8312, 18.0666, -13.6634, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23600000,
+ {-404.9136, 434.5719, -3147.843, -16.8274, 18.0626, -13.4636, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23620000,
+ {-405.2502, 434.9332, -3148.1123, -16.8244, 18.0583, -13.2637, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23640000,
+ {-405.5867, 435.2943, -3148.3777, -16.8213, 18.0552, -13.0631, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23660000,
+ {-405.9231, 435.6554, -3148.6389, -16.8177, 18.0507, -12.8638, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23680000,
+ {-406.2594, 436.0164, -3148.8962, -16.8133, 18.0458, -12.6614, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23700000,
+ {-406.5957, 436.3774, -3149.1494, -16.8098, 18.0419, -12.4606, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23720000,
+ {-406.9319, 436.7382, -3149.3987, -16.8066, 18.0387, -12.2608, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23740000,
+ {-407.268, 437.099, -3149.6438, -16.8027, 18.0351, -12.06, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23760000,
+ {-407.6041, 437.4597, -3149.885, -16.7997, 18.0311, -11.8601, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23780000,
+ {-407.9401, 437.8203, -3150.1223, -16.7969, 18.0268, -11.6601, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23800000,
+ {-408.276, 438.1808, -3150.3555, -16.7932, 18.0221, -11.4608, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23820000,
+ {-408.6119, 438.5413, -3150.5847, -16.7899, 18.019, -11.2618, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23840000,
+ {-408.9477, 438.9016, -3150.8101, -16.7867, 18.0147, -11.0612, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23860000,
+ {-409.2834, 439.2619, -3151.0312, -16.7822, 18.0094, -10.8605, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23880000,
+ {-409.6191, 439.6221, -3151.2485, -16.7773, 18.0054, -10.6613, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23900000,
+ {-409.9546, 439.9822, -3151.4617, -16.7732, 18.0012, -10.4614, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23920000,
+ {-410.2901, 440.3423, -3151.6709, -16.7681, 17.9976, -10.26, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23940000,
+ {-410.6255, 440.7022, -3151.8762, -16.7645, 17.9931, -10.0609, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23960000,
+ {-410.9608, 441.0621, -3152.0774, -16.761, 17.9892, -9.8605, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23980000,
+ {-411.296, 441.4218, -3152.2747, -16.7567, 17.9846, -9.6584, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24000000,
+ {-411.6311, 441.7816, -3152.4678, -16.7531, 17.9803, -9.4593, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24020000,
+ {-411.9662, 442.1412, -3152.657, -16.7498, 17.9764, -9.2592, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24040000,
+ {-412.3012, 442.5007, -3152.8423, -16.7465, 17.972, -9.0601, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24060000,
+ {-412.6361, 442.8601, -3153.0234, -16.7439, 17.9687, -8.8605, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24080000,
+ {-412.9709, 443.2195, -3153.2007, -16.7396, 17.964, -8.6601, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24100000,
+ {-413.3058, 443.5788, -3153.3738, -16.7359, 17.9587, -8.4598, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24120000,
+ {-413.6405, 443.938, -3153.543, -16.7319, 17.9542, -8.2609, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24140000,
+ {-413.9751, 444.2971, -3153.7083, -16.7285, 17.9501, -8.0615, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24160000,
+ {-414.3097, 444.656, -3153.8694, -16.7245, 17.9462, -7.8617, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24180000,
+ {-414.6442, 445.015, -3154.0266, -16.7195, 17.942, -7.6625, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24200000,
+ {-414.9786, 445.3738, -3154.1799, -16.7147, 17.937, -7.463, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24220000,
+ {-415.3129, 445.7326, -3154.3291, -16.7107, 17.9331, -7.2629, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24240000,
+ {-415.6471, 446.0912, -3154.4744, -16.7058, 17.9286, -7.0636, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24260000,
+ {-415.9812, 446.4498, -3154.6157, -16.7024, 17.9246, -6.8626, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24280000,
+ {-416.3152, 446.8083, -3154.7529, -16.6969, 17.9194, -6.6633, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24300000,
+ {-416.6492, 447.1667, -3154.8862, -16.6928, 17.9156, -6.4639, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24320000,
+ {-416.983, 447.525, -3155.0154, -16.6881, 17.9122, -6.2652, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24340000,
+ {-417.3168, 447.8832, -3155.1406, -16.6842, 17.9072, -6.065, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24360000,
+ {-417.6505, 448.2414, -3155.262, -16.6804, 17.9027, -5.8659, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24380000,
+ {-417.9841, 448.5994, -3155.3794, -16.6762, 17.8979, -5.6667, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24400000,
+ {-418.3176, 448.9574, -3155.4927, -16.6718, 17.8932, -5.4683, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24420000,
+ {-418.651, 449.3152, -3155.6021, -16.6674, 17.8898, -5.2691, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24440000,
+ {-418.9844, 449.6731, -3155.7075, -16.6625, 17.8848, -5.0699, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24460000,
+ {-419.3176, 450.0308, -3155.8088, -16.6586, 17.8795, -4.8702, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24480000,
+ {-419.6508, 450.3883, -3155.9062, -16.6536, 17.8751, -4.671, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24500000,
+ {-419.9839, 450.7458, -3155.9998, -16.649, 17.8712, -4.4721, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24520000,
+ {-420.3168, 451.1033, -3156.0891, -16.6445, 17.866, -4.2734, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24540000,
+ {-420.6497, 451.4606, -3156.1746, -16.6392, 17.8609, -4.0743, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24560000,
+ {-420.9825, 451.8178, -3156.2561, -16.6342, 17.8554, -3.8755, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24580000,
+ {-421.3152, 452.1749, -3156.3335, -16.6284, 17.8492, -3.6775, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24600000,
+ {-421.6478, 452.5319, -3156.407, -16.6235, 17.8448, -3.4782, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24620000,
+ {-421.9803, 452.8888, -3156.4766, -16.6187, 17.8398, -3.2785, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24640000,
+ {-422.3126, 453.2456, -3156.5422, -16.6132, 17.8334, -3.0806, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24660000,
+ {-422.6449, 453.6023, -3156.6038, -16.6095, 17.829, -2.8813, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24680000,
+ {-422.9771, 453.9589, -3156.6614, -16.6051, 17.8231, -2.6824, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24700000,
+ {-423.3092, 454.3153, -3156.7151, -16.6005, 17.8182, -2.4838, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24720000,
+ {-423.6412, 454.6717, -3156.7646, -16.5957, 17.8144, -2.2854, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24740000,
+ {-423.9731, 455.028, -3156.8103, -16.5899, 17.8088, -2.0862, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24760000,
+ {-424.3049, 455.3842, -3156.8521, -16.585, 17.8047, -1.8872, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24780000,
+ {-424.6366, 455.7403, -3156.8899, -16.5792, 17.8002, -1.6881, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24800000,
+ {-424.9682, 456.0963, -3156.9236, -16.5751, 17.7942, -1.4892, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24820000,
+ {-425.2997, 456.4521, -3156.9534, -16.5696, 17.7884, -1.2899, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24840000,
+ {-425.6311, 456.8079, -3156.9792, -16.5657, 17.7836, -1.0909, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24860000,
+ {-425.9624, 457.1636, -3157.001, -16.5612, 17.7795, -0.89313, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24880000,
+ {-426.2936, 457.5192, -3157.0188, -16.5564, 17.7751, -0.69366, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24900000,
+ {-426.6248, 457.8747, -3157.0327, -16.5526, 17.7708, -0.49374, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24920000,
+ {-426.9558, 458.2301, -3157.0425, -16.5488, 17.7652, -0.29352, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24940000,
+ {-427.2868, 458.5854, -3157.0483, -16.5437, 17.7604, -0.094382, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24960000,
+ {-427.6177, 458.9406, -3157.0503, -16.5389, 17.7559, 0.10459, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24980000,
+ {-427.9484, 459.2957, -3157.0481, -16.5349, 17.7505, 0.30345, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25000000,
+ {-428.2791, 459.6508, -3157.042, -16.5302, 17.7456, 0.50068, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25020000,
+ {-428.6097, 460.0057, -3157.032, -16.5251, 17.7412, 0.70003, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25040000,
+ {-428.9402, 460.3605, -3157.0181, -16.5204, 17.7365, 0.89776, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25060000,
+ {-429.2707, 460.7152, -3157, -16.5159, 17.7318, 1.0963, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25080000,
+ {-429.601, 461.0699, -3156.978, -16.5109, 17.7249, 1.2953, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25100000,
+ {-429.9312, 461.4243, -3156.9521, -16.5065, 17.7203, 1.4933, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25120000,
+ {-430.2613, 461.7787, -3156.9224, -16.5022, 17.7164, 1.6912, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25140000,
+ {-430.5914, 462.1331, -3156.8884, -16.4969, 17.7112, 1.8889, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25160000,
+ {-430.9213, 462.4873, -3156.8506, -16.4927, 17.7069, 2.0886, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25180000,
+ {-431.2512, 462.8414, -3156.8088, -16.4882, 17.7011, 2.2884, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25200000,
+ {-431.5809, 463.1955, -3156.7632, -16.4843, 17.6959, 2.4869, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25220000,
+ {-431.9106, 463.5494, -3156.7134, -16.4797, 17.69, 2.6861, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25240000,
+ {-432.2402, 463.9031, -3156.6597, -16.4756, 17.6857, 2.8849, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25260000,
+ {-432.5697, 464.2569, -3156.6021, -16.4713, 17.6814, 3.0832, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/mag.h b/src/tests/catch/nas/data/acc/mag.h
similarity index 62%
rename from src/tests/catch/nas/data/mag.h
rename to src/tests/catch/nas/data/acc/mag.h
index 721e43c6f2938b06f53b7e9399f2844faea02597..8e1f1602614f15eb35b977280fcbdf7de288589e 100644
--- a/src/tests/catch/nas/data/mag.h
+++ b/src/tests/catch/nas/data/acc/mag.h
@@ -23,7722 +23,7591 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-MagnetometerData mag[] = {
+MagnetometerData acc_mag[] = {
{
20000,
- -375.26,
- -188.5,
+ -373.52,
+ -193.14,
-146.16,
},
{
40000,
- -374.68,
- -186.18,
- -142.68,
+ -375.26,
+ -191.98,
+ -146.74,
},
{
60000,
- -377,
- -188.5,
- -143.84,
+ -374.1,
+ -193.14,
+ -145.58,
},
{
80000,
- -371.78,
- -189.66,
- -150.22,
+ -372.36,
+ -191.4,
+ -143.84,
},
{
100000,
- -372.36,
- -190.24,
- -142.1,
+ -372.94,
+ -191.98,
+ -140.94,
},
{
120000,
- -373.52,
+ -372.36,
-188.5,
- -141.52,
+ -144.42,
},
{
140000,
- -377,
- -190.82,
- -146.74,
+ -374.68,
+ -187.92,
+ -145,
},
{
160000,
- -374.1,
- -190.82,
- -138.04,
+ -372.36,
+ -192.56,
+ -143.84,
},
{
180000,
- -369.46,
- -191.4,
- -145.58,
+ -374.68,
+ -192.56,
+ -143.26,
},
{
200000,
- -374.1,
- -189.66,
+ -372.94,
+ -187.34,
-143.84,
},
{
220000,
- -374.68,
- -189.08,
- -144.42,
+ -375.84,
+ -192.56,
+ -143.26,
},
{
240000,
- -373.52,
- -185.6,
- -145.58,
+ -375.26,
+ -188.5,
+ -146.16,
},
{
259999,
- -374.1,
- -187.92,
- -142.1,
+ -377.58,
+ -190.82,
+ -146.16,
},
{
280000,
- -374.68,
- -191.98,
- -141.52,
+ -371.2,
+ -187.34,
+ -143.26,
},
{
300000,
- -375.26,
- -185.02,
- -142.1,
+ -374.68,
+ -193.14,
+ -145.58,
},
{
320000,
- -376.42,
- -188.5,
- -142.1,
+ -374.68,
+ -185.6,
+ -142.68,
},
{
340000,
- -375.26,
- -189.08,
- -142.1,
+ -374.1,
+ -188.5,
+ -143.84,
},
{
360000,
-375.26,
- -193.14,
- -146.16,
+ -189.66,
+ -140.94,
},
{
380000,
- -371.78,
- -192.56,
- -143.84,
+ -374.68,
+ -191.98,
+ -145,
},
{
400000,
-373.52,
- -189.66,
- -147.9,
+ -192.56,
+ -143.26,
},
{
420000,
- -377,
- -186.18,
- -146.16,
+ -372.94,
+ -191.4,
+ -140.36,
},
{
440000,
- -374.68,
- -191.4,
- -142.68,
+ -376.42,
+ -193.14,
+ -146.74,
},
{
460000,
- -372.36,
- -187.92,
- -143.84,
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diff --git a/src/tests/catch/nas/data/acc/output.h b/src/tests/catch/nas/data/acc/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..c87777897b0063aa35a54d7202a196705b09e371
--- /dev/null
+++ b/src/tests/catch/nas/data/acc/output.h
@@ -0,0 +1,3824 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState acc_output[] = {
+ {20000,
+ {0, 0, -160, -0.0071732, 0.008816, 0.081894, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {40000,
+ {-0.00014346, 0.00017632, -159.9984, -0.021533, 0.024917, 0.063718,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {-0.00057411, 0.00067466, -159.9971, -0.044622, 0.050099, -0.055049,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {-0.0014666, 0.0016766, -159.9982, -0.073977, 0.083404, -0.27466, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {-0.0029461, 0.0033447, -160.0037, -0.11039, 0.12386, -0.59532, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {-0.0051539, 0.0058219, -160.0156, -0.15468, 0.1722, -1.0174, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {-0.0082476, 0.0092659, -160.0359, -0.20605, 0.2277, -1.5416, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {-0.012369, 0.01382, -160.0668, -0.26619, 0.29135, -2.1666, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {-0.017692, 0.019647, -160.1101, -0.33322, 0.36155, -2.8929, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {-0.024357, 0.026878, -160.168, -0.40689, 0.43957, -3.7223, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {-0.032494, 0.035669, -160.2424, -0.48732, 0.5261, -4.6528, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {-0.042241, 0.046191, -160.3355, -0.57531, 0.62087, -5.6861, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {-0.053747, 0.058609, -160.4492, -0.67022, 0.72252, -6.8213, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {-0.067151, 0.073059, -160.5856, -0.77211, 0.83332, -8.0573, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {-0.082594, 0.089725, -160.7468, -0.87508, 0.94333, -9.2983, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {-0.1001, 0.10859, -160.9327, -0.97821, 1.0534, -10.5259, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {-0.11966, 0.12966, -161.1433, -1.0802, 1.1619, -11.7406, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {-0.14126, 0.1529, -161.3781, -1.1801, 1.269, -12.9427, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {-0.16487, 0.17828, -161.6369, -1.2795, 1.3743, -14.1323, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {-0.19046, 0.20577, -161.9196, -1.3771, 1.481, -15.3106, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {-0.218, 0.23538, -162.2258, -1.4754, 1.5859, -16.4778, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {-0.24751, 0.2671, -162.5553, -1.5737, 1.6902, -17.6343, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {-0.27898, 0.30091, -162.908, -1.6697, 1.7943, -18.7816, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {-0.31237, 0.33679, -163.2837, -1.7666, 1.8968, -19.9193, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {-0.34771, 0.37473, -163.6821, -1.8623, 1.9992, -21.0484, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {-0.38495, 0.41472, -164.103, -1.9562, 2.101, -22.169, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {-0.42408, 0.45674, -164.5464, -2.0498, 2.2017, -23.2821, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {-0.46507, 0.50077, -165.012, -2.1436, 2.3015, -24.3871, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {-0.50794, 0.5468, -165.4998, -2.2358, 2.4018, -25.4849, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {-0.55266, 0.59483, -166.0095, -2.3281, 2.5013, -26.5769, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {-0.59922, 0.64486, -166.541, -2.4189, 2.6013, -27.6629, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {-0.6476, 0.69689, -167.0943, -2.5105, 2.699, -28.7427, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {-0.69781, 0.75087, -167.6691, -2.6013, 2.7961, -29.819, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {-0.74983, 0.80679, -168.2655, -2.6921, 2.8936, -30.8894, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {-0.80368, 0.86466, -168.8833, -2.7824, 2.9901, -31.9549, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {-0.85932, 0.92446, -169.5224, -2.8725, 3.087, -33.0164, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {-0.91677, 0.9862, -170.1827, -2.962, 3.1836, -34.0753, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {-0.97601, 1.0499, -170.8642, -3.0517, 3.2786, -35.131, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {-1.037, 1.1154, -171.5668, -3.141, 3.3751, -36.1841, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {-1.0999, 1.1829, -172.2905, -3.2295, 3.4708, -37.2348, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {-1.1645, 1.2524, -173.0352, -3.3189, 3.5661, -38.2836, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {-1.2308, 1.3237, -173.8009, -3.4077, 3.6613, -39.3307, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {-1.299, 1.3969, -174.5875, -3.4966, 3.7555, -40.3762, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {-1.3689, 1.472, -175.395, -3.5846, 3.8508, -41.4209, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {-1.4406, 1.549, -176.2234, -3.6729, 3.946, -42.465, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {-1.5141, 1.628, -177.0728, -3.7619, 4.0404, -43.5098, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {-1.5893, 1.7088, -177.9429, -3.8512, 4.1354, -44.5553, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {-1.6663, 1.7915, -178.8341, -3.9392, 4.2307, -45.6011, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {-1.7451, 1.8761, -179.7461, -4.0274, 4.3257, -46.6493, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {-1.8257, 1.9626, -180.6791, -4.1163, 4.4204, -47.6978, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {-1.908, 2.051, -181.633, -4.2051, 4.516, -48.7494, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {-1.9921, 2.1413, -182.608, -4.2943, 4.6113, -49.8023, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {-2.078, 2.2336, -183.604, -4.3825, 4.706, -50.8557, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {-2.1656, 2.3277, -184.6212, -4.4724, 4.801, -51.9139, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {-2.2551, 2.4237, -185.6595, -4.5616, 4.8974, -52.9731, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {-2.3463, 2.5216, -186.7189, -4.651, 4.9932, -54.0354, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {-2.4393, 2.6215, -187.7996, -4.7406, 5.0886, -55.1011, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {-2.5341, 2.7233, -188.9016, -4.8299, 5.1835, -56.1688, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1180000,
+ {-2.6307, 2.8269, -190.025, -4.9196, 5.2792, -57.2386, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1200000,
+ {-2.7291, 2.9325, -191.1698, -5.0098, 5.3751, -58.3126, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1220000,
+ {-2.8293, 3.04, -192.336, -5.0996, 5.4724, -59.3895, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1240000,
+ {-2.9313, 3.1495, -193.5238, -5.1897, 5.5685, -60.4708, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1260000,
+ {-3.0351, 3.2609, -194.7332, -5.2811, 5.6651, -61.5552, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1280000,
+ {-3.1407, 3.3742, -195.9643, -5.3724, 5.7619, -62.6424, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1300000,
+ {-3.2482, 3.4894, -197.2172, -5.4635, 5.8589, -63.733, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1320000,
+ {-3.3575, 3.6066, -198.4919, -5.5542, 5.9563, -64.827, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1340000,
+ {-3.4685, 3.7257, -199.7884, -5.6461, 6.0536, -65.9246, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1360000,
+ {-3.5815, 3.8468, -201.1069, -5.7374, 6.1516, -67.0245, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1380000,
+ {-3.6962, 3.9698, -202.4474, -5.8292, 6.2495, -68.1282, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1400000,
+ {-3.8128, 4.0948, -203.8099, -5.9213, 6.3475, -69.2356, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1420000,
+ {-3.9312, 4.2217, -205.1946, -6.0127, 6.447, -70.3454, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1440000,
+ {-4.0515, 4.3507, -206.6016, -6.1056, 6.5464, -71.4582, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1460000,
+ {-4.1736, 4.4816, -208.0307, -6.1989, 6.6447, -72.5739, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1480000,
+ {-4.2976, 4.6145, -209.4822, -6.291, 6.7432, -73.6918, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1500000,
+ {-4.4234, 4.7494, -210.956, -6.3838, 6.8425, -74.8129, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1520000,
+ {-4.5511, 4.8862, -212.4523, -6.4771, 6.9429, -75.936, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1540000,
+ {-4.6806, 5.0251, -213.971, -6.571, 7.0423, -77.0626, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1560000,
+ {-4.812, 5.1659, -215.5123, -6.6647, 7.1423, -78.192, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1580000,
+ {-4.9453, 5.3088, -217.0761, -6.7592, 7.2431, -79.3242, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1600000,
+ {-5.0805, 5.4536, -218.6626, -6.853, 7.3436, -80.4583, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1620000,
+ {-5.2176, 5.6005, -220.2718, -6.9474, 7.4441, -81.594, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1640000,
+ {-5.3565, 5.7494, -221.9036, -7.0435, 7.5458, -82.7318, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1660000,
+ {-5.4974, 5.9003, -223.5583, -7.1384, 7.6471, -83.8719, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1680000,
+ {-5.6401, 6.0532, -225.2357, -7.2325, 7.7484, -85.0118, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1700000,
+ {-5.7848, 6.2082, -226.9359, -7.3276, 7.8502, -86.1544, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1720000,
+ {-5.9313, 6.3652, -228.659, -7.4234, 7.9532, -87.2987, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1740000,
+ {-6.0798, 6.5243, -230.405, -7.5191, 8.056, -88.4424, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1760000,
+ {-6.2302, 6.6854, -232.1738, -7.6147, 8.159, -89.5886, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1780000,
+ {-6.3825, 6.8486, -233.9656, -7.7113, 8.2619, -90.7347, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1800000,
+ {-6.5367, 7.0138, -235.7803, -7.8068, 8.3649, -91.8822, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1820000,
+ {-6.6928, 7.1811, -237.618, -7.9025, 8.4689, -93.0306, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1840000,
+ {-6.8509, 7.3505, -239.4786, -7.9997, 8.5723, -94.1803, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1860000,
+ {-7.0109, 7.5219, -241.3622, -8.0969, 8.6758, -95.33, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1880000,
+ {-7.1728, 7.6954, -243.2688, -8.1942, 8.7806, -96.4803, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1900000,
+ {-7.3367, 7.8711, -245.1984, -8.2911, 8.8835, -97.6311, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1920000,
+ {-7.5025, 8.0487, -247.151, -8.3888, 8.9874, -98.7818, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1940000,
+ {-7.6703, 8.2285, -249.1266, -8.4868, 9.092, -99.9327, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1960000,
+ {-7.84, 8.4103, -251.1253, -8.584, 9.1965, -101.0835, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {1980000,
+ {-8.0117, 8.5943, -253.147, -8.6816, 9.3005, -102.2339, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2000000,
+ {-8.1854, 8.7803, -255.1917, -8.7794, 9.4056, -103.3857, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2020000,
+ {-8.3609, 8.9684, -257.2594, -8.8768, 9.5102, -104.5371, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2040000,
+ {-8.5385, 9.1586, -259.3501, -8.9741, 9.6147, -105.6889, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2060000,
+ {-8.718, 9.3509, -261.4639, -9.0726, 9.72, -106.8393, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2079999,
+ {-8.8994, 9.5453, -263.6006, -9.1703, 9.8263, -107.9919, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {2100000,
+ {-9.0828, 9.7418, -265.7605, -9.2683, 9.9311, -109.1436, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
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+};
diff --git a/src/tests/catch/nas/data/pitot.h b/src/tests/catch/nas/data/acc/pitot.h
similarity index 66%
rename from src/tests/catch/nas/data/pitot.h
rename to src/tests/catch/nas/data/acc/pitot.h
index 3c5496e2d7a9c63fc9c48814d0fbc9173e591ec8..f85c3631bb09b7d96590b90478a3d8576a121bba 100644
--- a/src/tests/catch/nas/data/pitot.h
+++ b/src/tests/catch/nas/data/acc/pitot.h
@@ -23,13 +23,14 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-PitotData pitot[] = {
+PitotData acc_pitot[] = {
{
20000,
0,
@@ -48,15 +49,15 @@ PitotData pitot[] = {
},
{
100000,
- 6.4819,
+ 0,
},
{
120000,
- 6.4819,
+ 0,
},
{
140000,
- 6.4819,
+ 0,
},
{
160000,
@@ -68,5107 +69,5019 @@ PitotData pitot[] = {
},
{
200000,
- 6.4819,
+ 0,
},
{
220000,
- 6.4819,
+ 0,
},
{
240000,
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diff --git a/src/tests/catch/nas/data/acc/steps.h b/src/tests/catch/nas/data/acc/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..b6d5962fe2209fafc34a4b552e6ed2c28cc32d2b
--- /dev/null
+++ b/src/tests/catch/nas/data/acc/steps.h
@@ -0,0 +1,11375 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASPredictionSteps acc_steps[]{
+ {
+ 0, 0, -160, -0.0071732, 0.008816, 0.081894,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, 0, 0, -160, -0.0071732, 0.008816,
+ 0.081894, 0, 0, -160, -0.0071732, 0.008816,
+ 0.081894, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, -0.0071732,
+ 0.008816, 0.081894,
+ },
+ {
+ -0.00014346, 0.00017632, -159.9984, -0.021533, 0.024917, 0.063718,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.00014346, 0.00017632, -159.9984, -0.021533, 0.024917,
+ 0.063718, -0.00014346, 0.00017632, -159.9984, -0.021533, 0.024917,
+ 0.063718, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.00014346, 0.00017632, -159.9984, -0.021533,
+ 0.024917, 0.063718,
+ },
+ {
+ -0.00057411, 0.00067466, -159.9971, -0.044622, 0.050099, -0.055049,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.00057411, 0.00067466, -159.9971, -0.044622, 0.050099,
+ -0.055049, -0.00057411, 0.00067466, -159.9971, -0.044622, 0.050099,
+ -0.055049, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.00057411, 0.00067466, -159.9971, -0.044622,
+ 0.050099, -0.055049,
+ },
+ {
+ -0.0014666, 0.0016766, -159.9982, -0.073977, 0.083404, -0.27466,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.0014666, 0.0016766, -159.9982, -0.073977, 0.083404,
+ -0.27466, -0.0014666, 0.0016766, -159.9982, -0.073977, 0.083404,
+ -0.27466, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.0014666, 0.0016766, -159.9982, -0.073977,
+ 0.083404, -0.27466,
+ },
+ {
+ -0.0029461, 0.0033447, -160.0037, -0.11039, 0.12386, -0.59532,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.0029461, 0.0033447, -160.0037, -0.11039, 0.12386,
+ -0.59532, -0.0029461, 0.0033447, -160.0037, -0.11039, 0.12386,
+ -0.59532, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.0029461, 0.0033447, -160.0037, -0.11039,
+ 0.12386, -0.59532,
+ },
+ {
+ -0.0051539, 0.0058219, -160.0156, -0.15468, 0.1722, -1.0174,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.0051539, 0.0058219, -160.0156, -0.15468, 0.1722,
+ -1.0174, -0.0051539, 0.0058219, -160.0156, -0.15468, 0.1722,
+ -1.0174, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.0051539, 0.0058219, -160.0156, -0.15468,
+ 0.1722, -1.0174,
+ },
+ {
+ -0.0082476, 0.0092659, -160.0359, -0.20605, 0.2277, -1.5416,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.0082476, 0.0092659, -160.0359, -0.20605, 0.2277,
+ -1.5416, -0.0082476, 0.0092659, -160.0359, -0.20605, 0.2277,
+ -1.5416, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.0082476, 0.0092659, -160.0359, -0.20605,
+ 0.2277, -1.5416,
+ },
+ {
+ -0.012369, 0.01382, -160.0668, -0.26619, 0.29135, -2.1666,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.012369, 0.01382, -160.0668, -0.26619, 0.29135,
+ -2.1666, -0.012369, 0.01382, -160.0668, -0.26619, 0.29135,
+ -2.1666, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.012369, 0.01382, -160.0668, -0.26619,
+ 0.29135, -2.1666,
+ },
+ {
+ -0.017692, 0.019647, -160.1101, -0.33322, 0.36155, -2.8929,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.017692, 0.019647, -160.1101, -0.33322, 0.36155,
+ -2.8929, -0.017692, 0.019647, -160.1101, -0.33322, 0.36155,
+ -2.8929, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.017692, 0.019647, -160.1101, -0.33322,
+ 0.36155, -2.8929,
+ },
+ {
+ -0.024357, 0.026878, -160.168, -0.40689, 0.43957, -3.7223,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.024357, 0.026878, -160.168, -0.40689, 0.43957,
+ -3.7223, -0.024357, 0.026878, -160.168, -0.40689, 0.43957,
+ -3.7223, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.024357, 0.026878, -160.168, -0.40689,
+ 0.43957, -3.7223,
+ },
+ {
+ -0.032494, 0.035669, -160.2424, -0.48732, 0.5261, -4.6528,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.032494, 0.035669, -160.2424, -0.48732, 0.5261,
+ -4.6528, -0.032494, 0.035669, -160.2424, -0.48732, 0.5261,
+ -4.6528, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.032494, 0.035669, -160.2424, -0.48732,
+ 0.5261, -4.6528,
+ },
+ {
+ -0.042241, 0.046191, -160.3355, -0.57531, 0.62087, -5.6861,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.042241, 0.046191, -160.3355, -0.57531, 0.62087,
+ -5.6861, -0.042241, 0.046191, -160.3355, -0.57531, 0.62087,
+ -5.6861, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.042241, 0.046191, -160.3355, -0.57531,
+ 0.62087, -5.6861,
+ },
+ {
+ -0.053747, 0.058609, -160.4492, -0.67022, 0.72252, -6.8213,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.053747, 0.058609, -160.4492, -0.67022, 0.72252,
+ -6.8213, -0.053747, 0.058609, -160.4492, -0.67022, 0.72252,
+ -6.8213, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.053747, 0.058609, -160.4492, -0.67022,
+ 0.72252, -6.8213,
+ },
+ {
+ -0.067151, 0.073059, -160.5856, -0.77211, 0.83332, -8.0573,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.067151, 0.073059, -160.5856, -0.77211, 0.83332,
+ -8.0573, -0.067151, 0.073059, -160.5856, -0.77211, 0.83332,
+ -8.0573, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.067151, 0.073059, -160.5856, -0.77211,
+ 0.83332, -8.0573,
+ },
+ {
+ -0.082594, 0.089725, -160.7468, -0.87508, 0.94333, -9.2983,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.082594, 0.089725, -160.7468, -0.87508, 0.94333,
+ -9.2983, -0.082594, 0.089725, -160.7468, -0.87508, 0.94333,
+ -9.2983, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.082594, 0.089725, -160.7468, -0.87508,
+ 0.94333, -9.2983,
+ },
+ {
+ -0.1001, 0.10859, -160.9327, -0.97821, 1.0534, -10.5259,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.1001, 0.10859, -160.9327, -0.97821, 1.0534,
+ -10.5259, -0.1001, 0.10859, -160.9327, -0.97821, 1.0534,
+ -10.5259, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.1001, 0.10859, -160.9327, -0.97821,
+ 1.0534, -10.5259,
+ },
+ {
+ -0.11966, 0.12966, -161.1433, -1.0802, 1.1619, -11.7406,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.11966, 0.12966, -161.1433, -1.0802, 1.1619,
+ -11.7406, -0.11966, 0.12966, -161.1433, -1.0802, 1.1619,
+ -11.7406, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.11966, 0.12966, -161.1433, -1.0802,
+ 1.1619, -11.7406,
+ },
+ {
+ -0.14126, 0.1529, -161.3781, -1.1801, 1.269, -12.9427,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.14126, 0.1529, -161.3781, -1.1801, 1.269,
+ -12.9427, -0.14126, 0.1529, -161.3781, -1.1801, 1.269,
+ -12.9427, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.14126, 0.1529, -161.3781, -1.1801,
+ 1.269, -12.9427,
+ },
+ {
+ -0.16487, 0.17828, -161.6369, -1.2795, 1.3743, -14.1323,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.16487, 0.17828, -161.6369, -1.2795, 1.3743,
+ -14.1323, -0.16487, 0.17828, -161.6369, -1.2795, 1.3743,
+ -14.1323, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.16487, 0.17828, -161.6369, -1.2795,
+ 1.3743, -14.1323,
+ },
+ {
+ -0.19046, 0.20577, -161.9196, -1.3771, 1.481, -15.3106,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.19046, 0.20577, -161.9196, -1.3771, 1.481,
+ -15.3106, -0.19046, 0.20577, -161.9196, -1.3771, 1.481,
+ -15.3106, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.19046, 0.20577, -161.9196, -1.3771,
+ 1.481, -15.3106,
+ },
+ {
+ -0.218, 0.23538, -162.2258, -1.4754, 1.5859, -16.4778,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.218, 0.23538, -162.2258, -1.4754, 1.5859,
+ -16.4778, -0.218, 0.23538, -162.2258, -1.4754, 1.5859,
+ -16.4778, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.218, 0.23538, -162.2258, -1.4754,
+ 1.5859, -16.4778,
+ },
+ {
+ -0.24751, 0.2671, -162.5553, -1.5737, 1.6902, -17.6343,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.24751, 0.2671, -162.5553, -1.5737, 1.6902,
+ -17.6343, -0.24751, 0.2671, -162.5553, -1.5737, 1.6902,
+ -17.6343, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.24751, 0.2671, -162.5553, -1.5737,
+ 1.6902, -17.6343,
+ },
+ {
+ -0.27898, 0.30091, -162.908, -1.6697, 1.7943, -18.7816, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.27898,
+ 0.30091, -162.908, -1.6697, 1.7943, -18.7816, -0.27898, 0.30091,
+ -162.908, -1.6697, 1.7943, -18.7816, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.27898, 0.30091, -162.908,
+ -1.6697, 1.7943, -18.7816,
+ },
+ {
+ -0.31237, 0.33679, -163.2837, -1.7666, 1.8968, -19.9193,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.31237, 0.33679, -163.2837, -1.7666, 1.8968,
+ -19.9193, -0.31237, 0.33679, -163.2837, -1.7666, 1.8968,
+ -19.9193, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.31237, 0.33679, -163.2837, -1.7666,
+ 1.8968, -19.9193,
+ },
+ {
+ -0.34771, 0.37473, -163.6821, -1.8623, 1.9992, -21.0484,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.34771, 0.37473, -163.6821, -1.8623, 1.9992,
+ -21.0484, -0.34771, 0.37473, -163.6821, -1.8623, 1.9992,
+ -21.0484, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.34771, 0.37473, -163.6821, -1.8623,
+ 1.9992, -21.0484,
+ },
+ {
+ -0.38495, 0.41472, -164.103, -1.9562, 2.101, -22.169, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.38495,
+ 0.41472, -164.103, -1.9562, 2.101, -22.169, -0.38495, 0.41472,
+ -164.103, -1.9562, 2.101, -22.169, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.38495, 0.41472, -164.103,
+ -1.9562, 2.101, -22.169,
+ },
+ {
+ -0.42408, 0.45674, -164.5464, -2.0498, 2.2017, -23.2821,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.42408, 0.45674, -164.5464, -2.0498, 2.2017,
+ -23.2821, -0.42408, 0.45674, -164.5464, -2.0498, 2.2017,
+ -23.2821, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.42408, 0.45674, -164.5464, -2.0498,
+ 2.2017, -23.2821,
+ },
+ {
+ -0.46507, 0.50077, -165.012, -2.1436, 2.3015, -24.3871, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.46507,
+ 0.50077, -165.012, -2.1436, 2.3015, -24.3871, -0.46507, 0.50077,
+ -165.012, -2.1436, 2.3015, -24.3871, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.46507, 0.50077, -165.012,
+ -2.1436, 2.3015, -24.3871,
+ },
+ {
+ -0.50794, 0.5468, -165.4998, -2.2358, 2.4018, -25.4849,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.50794, 0.5468, -165.4998, -2.2358, 2.4018,
+ -25.4849, -0.50794, 0.5468, -165.4998, -2.2358, 2.4018,
+ -25.4849, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.50794, 0.5468, -165.4998, -2.2358,
+ 2.4018, -25.4849,
+ },
+ {
+ -0.55266, 0.59483, -166.0095, -2.3281, 2.5013, -26.5769,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.55266, 0.59483, -166.0095, -2.3281, 2.5013,
+ -26.5769, -0.55266, 0.59483, -166.0095, -2.3281, 2.5013,
+ -26.5769, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.55266, 0.59483, -166.0095, -2.3281,
+ 2.5013, -26.5769,
+ },
+ {
+ -0.59922, 0.64486, -166.541, -2.4189, 2.6013, -27.6629, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.59922,
+ 0.64486, -166.541, -2.4189, 2.6013, -27.6629, -0.59922, 0.64486,
+ -166.541, -2.4189, 2.6013, -27.6629, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.59922, 0.64486, -166.541,
+ -2.4189, 2.6013, -27.6629,
+ },
+ {
+ -0.6476, 0.69689, -167.0943, -2.5105, 2.699, -28.7427,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.6476, 0.69689, -167.0943, -2.5105, 2.699,
+ -28.7427, -0.6476, 0.69689, -167.0943, -2.5105, 2.699,
+ -28.7427, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.6476, 0.69689, -167.0943, -2.5105,
+ 2.699, -28.7427,
+ },
+ {
+ -0.69781, 0.75087, -167.6691, -2.6013, 2.7961, -29.819, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.69781,
+ 0.75087, -167.6691, -2.6013, 2.7961, -29.819, -0.69781, 0.75087,
+ -167.6691, -2.6013, 2.7961, -29.819, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.69781, 0.75087, -167.6691,
+ -2.6013, 2.7961, -29.819,
+ },
+ {
+ -0.74983, 0.80679, -168.2655, -2.6921, 2.8936, -30.8894,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.74983, 0.80679, -168.2655, -2.6921, 2.8936,
+ -30.8894, -0.74983, 0.80679, -168.2655, -2.6921, 2.8936,
+ -30.8894, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.74983, 0.80679, -168.2655, -2.6921,
+ 2.8936, -30.8894,
+ },
+ {
+ -0.80368, 0.86466, -168.8833, -2.7824, 2.9901, -31.9549,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.80368, 0.86466, -168.8833, -2.7824, 2.9901,
+ -31.9549, -0.80368, 0.86466, -168.8833, -2.7824, 2.9901,
+ -31.9549, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.80368, 0.86466, -168.8833, -2.7824,
+ 2.9901, -31.9549,
+ },
+ {
+ -0.85932, 0.92446, -169.5224, -2.8725, 3.087, -33.0164,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.85932, 0.92446, -169.5224, -2.8725, 3.087,
+ -33.0164, -0.85932, 0.92446, -169.5224, -2.8725, 3.087,
+ -33.0164, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.85932, 0.92446, -169.5224, -2.8725,
+ 3.087, -33.0164,
+ },
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+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -431.9106, 463.5494, -3156.7134, -16.4797, 17.69,
+ 2.6861, -431.9106, 463.5494, -3156.7134, -16.4797, 17.69,
+ 2.6861, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -431.9106, 463.5494, -3156.7134, -16.4797,
+ 17.69, 2.6861,
+ },
+ {
+ -432.2402, 463.9031, -3156.6597, -16.4756, 17.6857, 2.8849,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -432.2402, 463.9031, -3156.6597, -16.4756, 17.6857,
+ 2.8849, -432.2402, 463.9031, -3156.6597, -16.4756, 17.6857,
+ 2.8849, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -432.2402, 463.9031, -3156.6597, -16.4756,
+ 17.6857, 2.8849,
+ },
+ {
+ -432.5697, 464.2569, -3156.6021, -16.4713, 17.6814, 3.0832,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -432.5697, 464.2569, -3156.6021, -16.4713, 17.6814,
+ 3.0832, -432.5697, 464.2569, -3156.6021, -16.4713, 17.6814,
+ 3.0832, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -432.5697, 464.2569, -3156.6021, -16.4713,
+ 17.6814, 3.0832,
+ },
+ {
+ -432.8991, 464.6105, -3156.5403, -16.4674, 17.676, 3.2812,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -432.8991, 464.6105, -3156.5403, -16.4674, 17.676,
+ 3.2812, -432.8991, 464.6105, -3156.5403, -16.4674, 17.676,
+ 3.2812, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -432.8991, 464.6105, -3156.5403, -16.4674,
+ 17.676, 3.2812,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/baro/acc.h b/src/tests/catch/nas/data/baro/acc.h
new file mode 100644
index 0000000000000000000000000000000000000000..7ec87987b39772dd11e81a97889c9669dad184bf
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/acc.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+AccelerometerData baro_acc[] = {
+ {
+ 20000,
+ 5.7433,
+ -0.03832,
+ -0.03353,
+ },
+ {
+ 40000,
+ 10.7728,
+ -0.02395,
+ -0.0479,
+ },
+ {
+ 60000,
+ 15.8407,
+ -0.01437,
+ 0.05269,
+ },
+ {
+ 80000,
+ 20.9085,
+ -0.062271,
+ 0.03353,
+ },
+ {
+ 100000,
+ 25.986,
+ -0.0479,
+ 0.00479,
+ },
+ {
+ 120000,
+ 31.0874,
+ -0.02874,
+ 0.02874,
+ },
+ {
+ 140000,
+ 36.2175,
+ -0.01437,
+ -0.00479,
+ },
+ {
+ 160000,
+ 41.2949,
+ 0.02874,
+ 0.062271,
+ },
+ {
+ 180000,
+ 46.3772,
+ 0.05748,
+ 0.00479,
+ },
+ {
+ 200000,
+ 51.56,
+ 0.03353,
+ -0.02395,
+ },
+ {
+ 220000,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
+ },
+ {
+ 240000,
+ 61.8155,
+ -0.01437,
+ 0.00479,
+ },
+ {
+ 259999,
+ 66.9312,
+ 0.00479,
+ -0.04311,
+ },
+ {
+ 280000,
+ 72.0039,
+ -0.05269,
+ 0,
+ },
+ {
+ 300000,
+ 72.2577,
+ 0.01437,
+ -0.01916,
+ },
+ {
+ 320000,
+ 71.5871,
+ 0.01916,
+ 0.05748,
+ },
+ {
+ 340000,
+ 70.9357,
+ 0.02874,
+ 0.03353,
+ },
+ {
+ 360000,
+ 70.2986,
+ 0,
+ -0.02395,
+ },
+ {
+ 380000,
+ 69.6663,
+ 0.04311,
+ -0.04311,
+ },
+ {
+ 400000,
+ 69.1059,
+ -0.067061,
+ 0.00479,
+ },
+ {
+ 420000,
+ 68.5455,
+ 0.01437,
+ 0.02395,
+ },
+ {
+ 440000,
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+ 0.03832,
+ 0.05748,
+ },
+ {
+ 460000,
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+ -0.03832,
+ 0.01916,
+ },
+ {
+ 480000,
+ 67.0653,
+ 0.0479,
+ 0.04311,
+ },
+ {
+ 500000,
+ 66.6342,
+ 0.0095801,
+ 0.04311,
+ },
+ {
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+ 0,
+ },
+ {
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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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+ },
+ {
+ 820000,
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+ },
+ {
+ 840000,
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+ },
+ {
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+ -0.0479,
+ },
+ {
+ 880000,
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+ },
+ {
+ 900000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 1000000,
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+ 0.02395,
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+ },
+ {
+ 1020000,
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+ -0.01437,
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+ },
+ {
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+ },
+ {
+ 1060000,
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+ -0.00479,
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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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+ },
+ {
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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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diff --git a/src/tests/catch/nas/data/baro/baro.h b/src/tests/catch/nas/data/baro/baro.h
new file mode 100644
index 0000000000000000000000000000000000000000..597aac4544f5c03d2e58e618688316687b44d873
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/baro.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PressureData baro_baro[] = {
+ {
+ 20000,
+ 99449.4766,
+ },
+ {
+ 40000,
+ 99576.375,
+ },
+ {
+ 60000,
+ 99305.5859,
+ },
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+ 80000,
+ 99414.6562,
+ },
+ {
+ 100000,
+ 99431.1719,
+ },
+ {
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+ 99534.7188,
+ },
+ {
+ 140000,
+ 99355.3594,
+ },
+ {
+ 160000,
+ 99519.5391,
+ },
+ {
+ 180000,
+ 99512.1953,
+ },
+ {
+ 200000,
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+ },
+ {
+ 220000,
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+ },
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 300000,
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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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+ },
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+ },
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+ },
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+ },
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+ },
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+ },
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+ 23520000,
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+ },
+ {
+ 23540000,
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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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+ },
+ {
+ 23680000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 23780000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 23880000,
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+ },
+ {
+ 23900000,
+ 68824.6484,
+ },
+ {
+ 23920000,
+ 68742.4453,
+ },
+ {
+ 23940000,
+ 68743.2422,
+ },
+ {
+ 23960000,
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+ },
+ {
+ 23980000,
+ 68645.8672,
+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 24080000,
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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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+ },
+ {
+ 25260000,
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+ },
+
+};
diff --git a/src/tests/catch/nas/data/baro/config.h b/src/tests/catch/nas/data/baro/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..247d84c904e31cb6554f36526e2bd1fa72353fc5
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig baro_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/baro/gps.h b/src/tests/catch/nas/data/baro/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..f0a31b07a042976acaba0ea78084758ffae5faec
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData baro_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 100000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 120000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 140000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 160000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 180000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 200000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 220000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 240000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 259999,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 280000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 300000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 320000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 340000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 360000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 380000,
+ 39.3891,
+ -8.2879,
+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 400000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 420000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 440000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 460000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 480000,
+ 39.3891,
+ -8.2879,
+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 500000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 519999,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 540000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 560000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 580000,
+ 39.3891,
+ -8.2879,
+ -4.5,
+ -1.4892,
+ 1.6103,
+ -20.5817,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 600000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 620000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 640000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 660000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 680000,
+ 39.3891,
+ -8.2879,
+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 700000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 720000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 740000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 760000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 780000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 800000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 820000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 840000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 860000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 880000,
+ 39.3891,
+ -8.2879,
+ -11.5,
+ -2.7043,
+ 2.9843,
+ -36.9104,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 900000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 920000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 940000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 960000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 980000,
+ 39.3891,
+ -8.2879,
+ -13,
+ -3.1699,
+ 3.3639,
+ -42.1351,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1000000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1020000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1039999,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 1060000,
+ 39.3891,
+ -8.2879,
+ -21,
+ -3.5729,
+ 3.8733,
+ -47.3551,
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+ 3,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/baro/gyro.h b/src/tests/catch/nas/data/baro/gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..4143eeb70c0834d494a53a707eecbbf858d709b8
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/gyro.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GyroscopeData baro_gyro[] = {
+ {
+ 20000,
+ 0,
+ 0.00013049,
+ -0.00013049,
+ },
+ {
+ 40000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ 0,
+ 0.00013049,
+ },
+ {
+ 80000,
+ 0.00013049,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 100000,
+ 0,
+ 0,
+ -0.00026099,
+ },
+ {
+ 120000,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
+ 140000,
+ 0.00013049,
+ 0.00013049,
+ 0,
+ },
+ {
+ 160000,
+ -0.00013049,
+ 0,
+ 0.00013049,
+ },
+ {
+ 180000,
+ 0.00013049,
+ -0.00013049,
+ -0.00026099,
+ },
+ {
+ 200000,
+ 0.00013049,
+ -0.00013049,
+ 0.00013049,
+ },
+ {
+ 220000,
+ 0,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 240000,
+ 0.00013049,
+ 0.00026099,
+ -0.00013049,
+ },
+ {
+ 259999,
+ -0.00013049,
+ 0,
+ 0.00013049,
+ },
+ {
+ 280000,
+ 0,
+ 0.00026099,
+ 0.00013049,
+ },
+ {
+ 300000,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
+ 320000,
+ 0.00013049,
+ 0.00026099,
+ 0,
+ },
+ {
+ 340000,
+ 0,
+ 0,
+ 0,
+ },
+ {
+ 360000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 380000,
+ -0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 400000,
+ 0,
+ 0,
+ 0,
+ },
+ {
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+ -0.00013049,
+ -0.00013049,
+ },
+ {
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+ -0.00013049,
+ 0.00013049,
+ },
+ {
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+ 0.00013049,
+ },
+ {
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+ 0.00013049,
+ -0.00026099,
+ },
+ {
+ 500000,
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+ 0.00026099,
+ 0,
+ },
+ {
+ 519999,
+ 0,
+ 0,
+ 0,
+ },
+ {
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+ 0,
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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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+ 0,
+ },
+ {
+ 820000,
+ 0,
+ -0.00039148,
+ -0.00013049,
+ },
+ {
+ 840000,
+ 0,
+ -0.00052198,
+ 0.00026099,
+ },
+ {
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+ 0,
+ -0.00091346,
+ -0.00013049,
+ },
+ {
+ 880000,
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+ -0.001044,
+ 0.00013049,
+ },
+ {
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+ -0.0013049,
+ 0,
+ },
+ {
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+ },
+ {
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+ -0.0020879,
+ 0.00013049,
+ },
+ {
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+ 0.00013049,
+ -0.0022184,
+ 0,
+ },
+ {
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+ 0,
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+ -0.00013049,
+ },
+ {
+ 1000000,
+ -0.00013049,
+ -0.0031319,
+ -0.00013049,
+ },
+ {
+ 1020000,
+ 0,
+ -0.0036539,
+ 0,
+ },
+ {
+ 1039999,
+ 0,
+ -0.0041758,
+ 0.00013049,
+ },
+ {
+ 1060000,
+ 0,
+ -0.0046978,
+ 0.00013049,
+ },
+ {
+ 1080000,
+ 0,
+ -0.0050893,
+ -0.00013049,
+ },
+ {
+ 1100000,
+ 0,
+ -0.0060028,
+ 0,
+ },
+ {
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+ },
+ {
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+ 0,
+ -0.0071772,
+ 0.00013049,
+ },
+ {
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+ },
+ {
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+ },
+ {
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+ 0,
+ },
+ {
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+ },
+ {
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+ },
+ {
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+ -0.00013049,
+ },
+ {
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+ 0.00013049,
+ -0.012788,
+ 0,
+ },
+ {
+ 1300000,
+ 0,
+ -0.013571,
+ -0.00026099,
+ },
+ {
+ 1320000,
+ 0,
+ -0.014485,
+ 0,
+ },
+ {
+ 1340000,
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+ -0.015659,
+ 0,
+ },
+ {
+ 1360000,
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+ -0.016573,
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+ },
+ {
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+ -0.017617,
+ -0.00026099,
+ },
+ {
+ 1400000,
+ 0,
+ -0.017878,
+ 0,
+ },
+ {
+ 1420000,
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+ -0.019052,
+ 0,
+ },
+ {
+ 1440000,
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+ -0.020227,
+ 0.00013049,
+ },
+ {
+ 1460000,
+ 0.00013049,
+ -0.020879,
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+ },
+ {
+ 1480000,
+ 0,
+ -0.021923,
+ 0.00013049,
+ },
+ {
+ 1500000,
+ 0,
+ -0.022315,
+ 0,
+ },
+ {
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+ -0.023489,
+ 0,
+ },
+ {
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+ 0.00013049,
+ -0.024142,
+ 0,
+ },
+ {
+ 1560000,
+ 0,
+ -0.024925,
+ -0.00013049,
+ },
+ {
+ 1580000,
+ 0.00026099,
+ -0.025577,
+ -0.00013049,
+ },
+ {
+ 1600000,
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+ -0.026099,
+ 0,
+ },
+ {
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+ },
+ {
+ 1640000,
+ 0,
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+ },
+ {
+ 1660000,
+ 0,
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+ 0,
+ },
+ {
+ 1680000,
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+ },
+ {
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+ },
+ {
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+ -0.028578,
+ 0,
+ },
+ {
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+ },
+ {
+ 1760000,
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+ },
+ {
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+ },
+ {
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+ {
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+ },
+ {
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+ 0,
+ },
+ {
+ 1860000,
+ 0.00013049,
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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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+ },
+ {
+ 2160000,
+ 0,
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diff --git a/src/tests/catch/nas/data/config.h b/src/tests/catch/nas/data/baro/include.h
similarity index 58%
rename from src/tests/catch/nas/data/config.h
rename to src/tests/catch/nas/data/baro/include.h
index 8d6af2d1d7905137e18fe70cdccb2f2c866545a3..0ababf3030cf227b80ac758ee7f993ca674074bc 100644
--- a/src/tests/catch/nas/data/config.h
+++ b/src/tests/catch/nas/data/baro/include.h
@@ -23,29 +23,20 @@
/* This file was automatically generated, do not edit manually! */
#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
#include <algorithms/NAS/NASState.h>
#include <sensors/SensorData.h>
#include <sensors/analog/Pitot/PitotData.h>
using namespace Boardcore;
-NASConfig nasConfig{
- 0.02, ///< T
- 0.0001, ///< SIGMA_BETA
- 10, ///< SIGMA_W
- 10, ///< SIGMA_ACC [simulated]
- 10, ///< SIGMA_MAG
- 5, ///< SIGMA_GPS
- 50, ///< 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 [simulated]
- {263.4372, -4.8129, 356.5518}, ///< NED_MAG
-};
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/baro/input.h b/src/tests/catch/nas/data/baro/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..11e1c9c1cfbd3706680279be3ea1d48b9e5fa6fd
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/input.h
@@ -0,0 +1,2561 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState baro_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
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+ {0, 0, -168.9009, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24380000,
+ {0, 0, -168.9129, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24400000,
+ {0, 0, -168.9248, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24420000,
+ {0, 0, -168.9367, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24440000,
+ {0, 0, -168.9487, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24460000,
+ {0, 0, -168.9606, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24480000,
+ {0, 0, -168.9725, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24500000,
+ {0, 0, -168.9843, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24520000,
+ {0, 0, -168.9961, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24540000,
+ {0, 0, -169.0081, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24560000,
+ {0, 0, -169.0201, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24580000,
+ {0, 0, -169.032, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24600000,
+ {0, 0, -169.0438, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24620000,
+ {0, 0, -169.0557, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24640000,
+ {0, 0, -169.0677, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24660000,
+ {0, 0, -169.0796, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24680000,
+ {0, 0, -169.0914, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24700000,
+ {0, 0, -169.1034, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24720000,
+ {0, 0, -169.1153, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24740000,
+ {0, 0, -169.1272, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24760000,
+ {0, 0, -169.1391, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24780000,
+ {0, 0, -169.151, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24800000,
+ {0, 0, -169.1629, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24820000,
+ {0, 0, -169.1748, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24840000,
+ {0, 0, -169.1867, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24860000,
+ {0, 0, -169.1987, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24880000,
+ {0, 0, -169.2105, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24900000,
+ {0, 0, -169.2225, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24920000,
+ {0, 0, -169.2344, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24940000,
+ {0, 0, -169.2463, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24960000,
+ {0, 0, -169.2582, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24980000,
+ {0, 0, -169.2701, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25000000,
+ {0, 0, -169.282, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25020000,
+ {0, 0, -169.2938, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25040000,
+ {0, 0, -169.3058, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25060000,
+ {0, 0, -169.3176, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25080000,
+ {0, 0, -169.3296, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25100000,
+ {0, 0, -169.3415, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25120000,
+ {0, 0, -169.3534, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25140000,
+ {0, 0, -169.3654, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25160000,
+ {0, 0, -169.3773, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25180000,
+ {0, 0, -169.3893, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25200000,
+ {0, 0, -169.4011, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25220000,
+ {0, 0, -169.4131, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25240000,
+ {0, 0, -169.4251, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25260000,
+ {0, 0, -169.437, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/baro/mag.h b/src/tests/catch/nas/data/baro/mag.h
new file mode 100644
index 0000000000000000000000000000000000000000..c1649657ed67db7212201fe7f7d489d43bb708f9
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/mag.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+MagnetometerData baro_mag[] = {
+ {
+ 20000,
+ -373.52,
+ -193.14,
+ -146.16,
+ },
+ {
+ 40000,
+ -375.26,
+ -191.98,
+ -146.74,
+ },
+ {
+ 60000,
+ -374.1,
+ -193.14,
+ -145.58,
+ },
+ {
+ 80000,
+ -372.36,
+ -191.4,
+ -143.84,
+ },
+ {
+ 100000,
+ -372.94,
+ -191.98,
+ -140.94,
+ },
+ {
+ 120000,
+ -372.36,
+ -188.5,
+ -144.42,
+ },
+ {
+ 140000,
+ -374.68,
+ -187.92,
+ -145,
+ },
+ {
+ 160000,
+ -372.36,
+ -192.56,
+ -143.84,
+ },
+ {
+ 180000,
+ -374.68,
+ -192.56,
+ -143.26,
+ },
+ {
+ 200000,
+ -372.94,
+ -187.34,
+ -143.84,
+ },
+ {
+ 220000,
+ -375.84,
+ -192.56,
+ -143.26,
+ },
+ {
+ 240000,
+ -375.26,
+ -188.5,
+ -146.16,
+ },
+ {
+ 259999,
+ -377.58,
+ -190.82,
+ -146.16,
+ },
+ {
+ 280000,
+ -371.2,
+ -187.34,
+ -143.26,
+ },
+ {
+ 300000,
+ -374.68,
+ -193.14,
+ -145.58,
+ },
+ {
+ 320000,
+ -374.68,
+ -185.6,
+ -142.68,
+ },
+ {
+ 340000,
+ -374.1,
+ -188.5,
+ -143.84,
+ },
+ {
+ 360000,
+ -375.26,
+ -189.66,
+ -140.94,
+ },
+ {
+ 380000,
+ -374.68,
+ -191.98,
+ -145,
+ },
+ {
+ 400000,
+ -373.52,
+ -192.56,
+ -143.26,
+ },
+ {
+ 420000,
+ -372.94,
+ -191.4,
+ -140.36,
+ },
+ {
+ 440000,
+ -376.42,
+ -193.14,
+ -146.74,
+ },
+ {
+ 460000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 480000,
+ -373.52,
+ -190.24,
+ -143.26,
+ },
+ {
+ 500000,
+ -374.1,
+ -186.76,
+ -146.16,
+ },
+ {
+ 519999,
+ -371.2,
+ -187.34,
+ -145,
+ },
+ {
+ 540000,
+ -375.26,
+ -189.08,
+ -146.74,
+ },
+ {
+ 560000,
+ -375.26,
+ -186.18,
+ -145,
+ },
+ {
+ 580000,
+ -375.84,
+ -187.92,
+ -145.58,
+ },
+ {
+ 600000,
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+ -190.24,
+ -145,
+ },
+ {
+ 620000,
+ -373.52,
+ -189.08,
+ -143.84,
+ },
+ {
+ 640000,
+ -372.94,
+ -186.18,
+ -146.16,
+ },
+ {
+ 660000,
+ -374.1,
+ -187.34,
+ -145,
+ },
+ {
+ 680000,
+ -373.52,
+ -187.34,
+ -142.1,
+ },
+ {
+ 700000,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 720000,
+ -369.46,
+ -189.08,
+ -145,
+ },
+ {
+ 740000,
+ -377,
+ -183.86,
+ -141.52,
+ },
+ {
+ 760000,
+ -378.16,
+ -187.92,
+ -144.42,
+ },
+ {
+ 780000,
+ -372.94,
+ -190.24,
+ -145,
+ },
+ {
+ 800000,
+ -375.26,
+ -190.82,
+ -145.58,
+ },
+ {
+ 820000,
+ -377.58,
+ -186.76,
+ -145,
+ },
+ {
+ 840000,
+ -375.84,
+ -191.98,
+ -145,
+ },
+ {
+ 860000,
+ -373.52,
+ -193.14,
+ -147.9,
+ },
+ {
+ 880000,
+ -372.94,
+ -188.5,
+ -142.68,
+ },
+ {
+ 900000,
+ -374.68,
+ -190.24,
+ -142.1,
+ },
+ {
+ 920000,
+ -372.36,
+ -193.14,
+ -147.32,
+ },
+ {
+ 940000,
+ -374.68,
+ -191.98,
+ -142.1,
+ },
+ {
+ 960000,
+ -376.42,
+ -187.92,
+ -142.1,
+ },
+ {
+ 980000,
+ -372.94,
+ -189.66,
+ -146.74,
+ },
+ {
+ 1000000,
+ -374.68,
+ -185.6,
+ -144.42,
+ },
+ {
+ 1020000,
+ -375.26,
+ -186.76,
+ -142.68,
+ },
+ {
+ 1039999,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 1060000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1080000,
+ -374.1,
+ -186.18,
+ -144.42,
+ },
+ {
+ 1100000,
+ -372.36,
+ -189.08,
+ -146.16,
+ },
+ {
+ 1120000,
+ -371.78,
+ -189.66,
+ -143.26,
+ },
+ {
+ 1140000,
+ -377,
+ -190.82,
+ -147.9,
+ },
+ {
+ 1160000,
+ -377.58,
+ -190.82,
+ -145,
+ },
+ {
+ 1180000,
+ -374.68,
+ -190.82,
+ -145,
+ },
+ {
+ 1200000,
+ -374.68,
+ -190.24,
+ -143.26,
+ },
+ {
+ 1220000,
+ -375.26,
+ -189.08,
+ -143.84,
+ },
+ {
+ 1240000,
+ -373.52,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1260000,
+ -371.78,
+ -187.92,
+ -146.16,
+ },
+ {
+ 1280000,
+ -374.68,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1300000,
+ -371.78,
+ -188.5,
+ -142.68,
+ },
+ {
+ 1320000,
+ -374.1,
+ -190.24,
+ -145,
+ },
+ {
+ 1340000,
+ -377.58,
+ -191.4,
+ -143.26,
+ },
+ {
+ 1360000,
+ -372.94,
+ -190.24,
+ -143.84,
+ },
+ {
+ 1380000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 1400000,
+ -374.1,
+ -191.98,
+ -142.68,
+ },
+ {
+ 1420000,
+ -376.42,
+ -192.56,
+ -142.68,
+ },
+ {
+ 1440000,
+ -377.58,
+ -191.98,
+ -139.2,
+ },
+ {
+ 1460000,
+ -378.16,
+ -191.98,
+ -145,
+ },
+ {
+ 1480000,
+ -371.2,
+ -190.82,
+ -140.36,
+ },
+ {
+ 1500000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1520000,
+ -374.1,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1540000,
+ -377,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1560000,
+ -373.52,
+ -190.82,
+ -139.2,
+ },
+ {
+ 1580000,
+ -374.68,
+ -188.5,
+ -140.36,
+ },
+ {
+ 1600000,
+ -374.1,
+ -191.4,
+ -142.1,
+ },
+ {
+ 1620000,
+ -375.26,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1640000,
+ -374.68,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1660000,
+ -374.1,
+ -189.66,
+ -139.78,
+ },
+ {
+ 1680000,
+ -376.42,
+ -189.08,
+ -140.94,
+ },
+ {
+ 1700000,
+ -372.36,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1720000,
+ -375.26,
+ -189.66,
+ -136.3,
+ },
+ {
+ 1740000,
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+ },
+ {
+ 1760000,
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+ },
+ {
+ 1780000,
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+ },
+ {
+ 1800000,
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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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diff --git a/src/tests/catch/nas/data/baro/output.h b/src/tests/catch/nas/data/baro/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..73d11a635c819cf4973ac511fc430b219c8c0417
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/output.h
@@ -0,0 +1,2561 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState baro_output[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {0, 0, -160.0001, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {0, 0, -160.0001, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {0, 0, -160.0001, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {0, 0, -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {0, 0, -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {0, 0, -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {0, 0, -160.0003, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {0, 0, -160.0003, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {0, 0, -160.0003, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {0, 0, -160.0004, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {0, 0, -160.0004, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {0, 0, -160.0005, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {0, 0, -160.0006, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {0, 0, -160.0007, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {0, 0, -160.0007, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {0, 0, -160.0008, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {0, 0, -160.0009, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {0, 0, -160.0009, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {0, 0, -160.001, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {0, 0, -160.0011, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {0, 0, -160.0011, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {0, 0, -160.0013, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {0, 0, -160.0013, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {0, 0, -160.0015, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {0, 0, -160.0016, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {0, 0, -160.0017, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {0, 0, -160.0018, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {0, 0, -160.0019, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {0, 0, -160.002, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {0, 0, -160.0021, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {0, 0, -160.0022, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1180000,
+ {0, 0, -160.0023, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1200000,
+ {0, 0, -160.0025, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1220000,
+ {0, 0, -160.0026, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1240000,
+ {0, 0, -160.0027, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1260000,
+ {0, 0, -160.0028, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1280000,
+ {0, 0, -160.0029, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1300000,
+ {0, 0, -160.0031, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1320000,
+ {0, 0, -160.0032, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1340000,
+ {0, 0, -160.0034, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1360000,
+ {0, 0, -160.0036, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1380000,
+ {0, 0, -160.0038, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1400000,
+ {0, 0, -160.0039, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1420000,
+ {0, 0, -160.0042, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1440000,
+ {0, 0, -160.0043, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1460000,
+ {0, 0, -160.0046, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1480000,
+ {0, 0, -160.0047, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1500000,
+ {0, 0, -160.0049, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1520000,
+ {0, 0, -160.0051, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1540000,
+ {0, 0, -160.0054, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1560000,
+ {0, 0, -160.0056, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1580000,
+ {0, 0, -160.0059, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1600000,
+ {0, 0, -160.0062, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1620000,
+ {0, 0, -160.0064, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1640000,
+ {0, 0, -160.0067, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1660000,
+ {0, 0, -160.0069, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1680000,
+ {0, 0, -160.0072, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1700000,
+ {0, 0, -160.0074, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1720000,
+ {0, 0, -160.0076, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1740000,
+ {0, 0, -160.008, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1760000,
+ {0, 0, -160.0083, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1780000,
+ {0, 0, -160.0085, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1800000,
+ {0, 0, -160.0088, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1820000,
+ {0, 0, -160.0091, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1840000,
+ {0, 0, -160.0094, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1860000,
+ {0, 0, -160.0097, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1880000,
+ {0, 0, -160.01, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1900000,
+ {0, 0, -160.0103, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1920000,
+ {0, 0, -160.0107, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1940000,
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+ {22840000,
+ {0, 0, -168.0101, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22860000,
+ {0, 0, -168.0219, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22880000,
+ {0, 0, -168.0337, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22900000,
+ {0, 0, -168.0456, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22920000,
+ {0, 0, -168.0574, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22940000,
+ {0, 0, -168.0693, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22960000,
+ {0, 0, -168.0811, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {22980000,
+ {0, 0, -168.093, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23000000,
+ {0, 0, -168.1049, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23020000,
+ {0, 0, -168.1167, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23040000,
+ {0, 0, -168.1285, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23060000,
+ {0, 0, -168.1403, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23080000,
+ {0, 0, -168.152, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23100000,
+ {0, 0, -168.1638, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23120000,
+ {0, 0, -168.1758, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23140000,
+ {0, 0, -168.1876, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23160000,
+ {0, 0, -168.1996, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23180000,
+ {0, 0, -168.2114, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23200000,
+ {0, 0, -168.2232, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23220000,
+ {0, 0, -168.2352, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23240000,
+ {0, 0, -168.247, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23260000,
+ {0, 0, -168.2589, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23280000,
+ {0, 0, -168.2708, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23300000,
+ {0, 0, -168.2827, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23320000,
+ {0, 0, -168.2945, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23340000,
+ {0, 0, -168.3064, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23360000,
+ {0, 0, -168.3184, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23380000,
+ {0, 0, -168.3302, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23400000,
+ {0, 0, -168.3421, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23420000,
+ {0, 0, -168.354, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23440000,
+ {0, 0, -168.3658, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23460000,
+ {0, 0, -168.3777, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23480000,
+ {0, 0, -168.3896, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23500000,
+ {0, 0, -168.4015, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23520000,
+ {0, 0, -168.4134, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23540000,
+ {0, 0, -168.4253, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23560000,
+ {0, 0, -168.4372, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23580000,
+ {0, 0, -168.4491, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23600000,
+ {0, 0, -168.4609, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23620000,
+ {0, 0, -168.4728, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23640000,
+ {0, 0, -168.4847, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23660000,
+ {0, 0, -168.4966, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23680000,
+ {0, 0, -168.5085, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23700000,
+ {0, 0, -168.5204, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23720000,
+ {0, 0, -168.5323, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23740000,
+ {0, 0, -168.5442, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23760000,
+ {0, 0, -168.556, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23780000,
+ {0, 0, -168.5679, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23800000,
+ {0, 0, -168.5798, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23820000,
+ {0, 0, -168.5917, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23840000,
+ {0, 0, -168.6035, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23860000,
+ {0, 0, -168.6154, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23880000,
+ {0, 0, -168.6273, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23900000,
+ {0, 0, -168.6392, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23920000,
+ {0, 0, -168.6511, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23940000,
+ {0, 0, -168.663, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23960000,
+ {0, 0, -168.6749, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {23980000,
+ {0, 0, -168.6868, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24000000,
+ {0, 0, -168.6987, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24020000,
+ {0, 0, -168.7106, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24040000,
+ {0, 0, -168.7224, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24060000,
+ {0, 0, -168.7344, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24080000,
+ {0, 0, -168.7463, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24100000,
+ {0, 0, -168.7581, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24120000,
+ {0, 0, -168.77, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24140000,
+ {0, 0, -168.782, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24160000,
+ {0, 0, -168.7938, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24180000,
+ {0, 0, -168.8057, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24200000,
+ {0, 0, -168.8177, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24220000,
+ {0, 0, -168.8296, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24240000,
+ {0, 0, -168.8415, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24260000,
+ {0, 0, -168.8535, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24280000,
+ {0, 0, -168.8652, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24300000,
+ {0, 0, -168.8771, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24320000,
+ {0, 0, -168.8891, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24340000,
+ {0, 0, -168.9009, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24360000,
+ {0, 0, -168.9129, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24380000,
+ {0, 0, -168.9248, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24400000,
+ {0, 0, -168.9367, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24420000,
+ {0, 0, -168.9487, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24440000,
+ {0, 0, -168.9606, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24460000,
+ {0, 0, -168.9725, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24480000,
+ {0, 0, -168.9843, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24500000,
+ {0, 0, -168.9961, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24520000,
+ {0, 0, -169.0081, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24540000,
+ {0, 0, -169.0201, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24560000,
+ {0, 0, -169.032, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24580000,
+ {0, 0, -169.0438, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24600000,
+ {0, 0, -169.0557, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24620000,
+ {0, 0, -169.0677, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24640000,
+ {0, 0, -169.0796, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24660000,
+ {0, 0, -169.0914, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24680000,
+ {0, 0, -169.1034, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24700000,
+ {0, 0, -169.1153, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24720000,
+ {0, 0, -169.1272, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24740000,
+ {0, 0, -169.1391, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24760000,
+ {0, 0, -169.151, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24780000,
+ {0, 0, -169.1629, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24800000,
+ {0, 0, -169.1748, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24820000,
+ {0, 0, -169.1867, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24840000,
+ {0, 0, -169.1987, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24860000,
+ {0, 0, -169.2105, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24880000,
+ {0, 0, -169.2225, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24900000,
+ {0, 0, -169.2344, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24920000,
+ {0, 0, -169.2463, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24940000,
+ {0, 0, -169.2582, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24960000,
+ {0, 0, -169.2701, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {24980000,
+ {0, 0, -169.282, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25000000,
+ {0, 0, -169.2938, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25020000,
+ {0, 0, -169.3058, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25040000,
+ {0, 0, -169.3176, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25060000,
+ {0, 0, -169.3296, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25080000,
+ {0, 0, -169.3415, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25100000,
+ {0, 0, -169.3534, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25120000,
+ {0, 0, -169.3654, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25140000,
+ {0, 0, -169.3773, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25160000,
+ {0, 0, -169.3893, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25180000,
+ {0, 0, -169.4011, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25200000,
+ {0, 0, -169.4131, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25220000,
+ {0, 0, -169.4251, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25240000,
+ {0, 0, -169.437, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {25260000,
+ {0, 0, -169.449, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/baro/pitot.h b/src/tests/catch/nas/data/baro/pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..16c6f17ae2dddab27d6f201abacbae9a98145e50
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/pitot.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PitotData baro_pitot[] = {
+ {
+ 20000,
+ 0,
+ },
+ {
+ 40000,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ },
+ {
+ 80000,
+ 0,
+ },
+ {
+ 100000,
+ 0,
+ },
+ {
+ 120000,
+ 0,
+ },
+ {
+ 140000,
+ 0,
+ },
+ {
+ 160000,
+ 6.4819,
+ },
+ {
+ 180000,
+ 6.4819,
+ },
+ {
+ 200000,
+ 0,
+ },
+ {
+ 220000,
+ 0,
+ },
+ {
+ 240000,
+ 0,
+ },
+ {
+ 259999,
+ 6.4819,
+ },
+ {
+ 280000,
+ 6.4819,
+ },
+ {
+ 300000,
+ 11.2259,
+ },
+ {
+ 320000,
+ 11.2259,
+ },
+ {
+ 340000,
+ 11.2259,
+ },
+ {
+ 360000,
+ 12.9636,
+ },
+ {
+ 380000,
+ 12.9636,
+ },
+ {
+ 400000,
+ 17.1491,
+ },
+ {
+ 420000,
+ 17.1491,
+ },
+ {
+ 440000,
+ 17.1491,
+ },
+ {
+ 460000,
+ 19.4435,
+ },
+ {
+ 480000,
+ 19.4435,
+ },
+ {
+ 500000,
+ 20.4917,
+ },
+ {
+ 519999,
+ 20.4917,
+ },
+ {
+ 540000,
+ 20.4917,
+ },
+ {
+ 560000,
+ 25.0947,
+ },
+ {
+ 580000,
+ 25.0947,
+ },
+ {
+ 600000,
+ 25.0947,
+ },
+ {
+ 620000,
+ 25.0947,
+ },
+ {
+ 640000,
+ 25.0947,
+ },
+ {
+ 660000,
+ 30.3854,
+ },
+ {
+ 680000,
+ 30.3854,
+ },
+ {
+ 700000,
+ 31.0629,
+ },
+ {
+ 720000,
+ 31.0629,
+ },
+ {
+ 740000,
+ 31.0629,
+ },
+ {
+ 760000,
+ 35.4786,
+ },
+ {
+ 780000,
+ 35.4786,
+ },
+ {
+ 800000,
+ 37.21,
+ },
+ {
+ 820000,
+ 37.21,
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diff --git a/src/tests/catch/nas/data/baro/steps.h b/src/tests/catch/nas/data/baro/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..0b8ef70a0684938a1cd0b4e6832f444732701335
--- /dev/null
+++ b/src/tests/catch/nas/data/baro/steps.h
@@ -0,0 +1,10087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASPredictionSteps baro_steps[]{
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -159.9999, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -159.9999, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -159.9999, 0, 0, 0, 0, 0,
+ -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -159.9999, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -159.9999, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -159.9999, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160.0001, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -160.0001, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160.0001, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0001, 0, 0, 0, 0, 0,
+ -160.0001, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0001,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0001, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0001, 0, 0, 0, 0, 0,
+ -160.0001, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0001,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0001, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0001, 0, 0, 0, 0, 0,
+ -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0002,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0002, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0002, 0, 0, 0, 0, 0,
+ -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0002,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0002, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0002, 0, 0, 0, 0, 0,
+ -160.0002, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0002,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0002, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -160.0002, 0, 0, 0, 0, 0,
+ -160.0003, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -160.0003,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -160.0003, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
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+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.0438, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.0438, 0, 0, 0, 0, 0,
+ -169.0557, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.0557,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.0557, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.0557, 0, 0, 0, 0, 0,
+ -169.0677, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.0677,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.0677, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.0677, 0, 0, 0, 0, 0,
+ -169.0796, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.0796,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.0796, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.0796, 0, 0, 0, 0, 0,
+ -169.0914, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.0914,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.0914, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.0914, 0, 0, 0, 0, 0,
+ -169.1034, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1034,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1034, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1034, 0, 0, 0, 0, 0,
+ -169.1153, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1153,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1153, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1153, 0, 0, 0, 0, 0,
+ -169.1272, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1272,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1272, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1272, 0, 0, 0, 0, 0,
+ -169.1391, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1391,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1391, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1391, 0, 0, 0, 0, 0,
+ -169.151, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.151,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.151, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.151, 0, 0, 0, 0, 0,
+ -169.1629, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1629,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1629, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1629, 0, 0, 0, 0, 0,
+ -169.1748, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1748,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1748, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1748, 0, 0, 0, 0, 0,
+ -169.1867, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1867,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1867, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1867, 0, 0, 0, 0, 0,
+ -169.1987, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.1987,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.1987, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.1987, 0, 0, 0, 0, 0,
+ -169.2105, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2105,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2105, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2105, 0, 0, 0, 0, 0,
+ -169.2225, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2225,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2225, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2225, 0, 0, 0, 0, 0,
+ -169.2344, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2344,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2344, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2344, 0, 0, 0, 0, 0,
+ -169.2463, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2463,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2463, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2463, 0, 0, 0, 0, 0,
+ -169.2582, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2582,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2582, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2582, 0, 0, 0, 0, 0,
+ -169.2701, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2701,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2701, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2701, 0, 0, 0, 0, 0,
+ -169.282, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.282,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.282, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.282, 0, 0, 0, 0, 0,
+ -169.2938, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.2938,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.2938, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.2938, 0, 0, 0, 0, 0,
+ -169.3058, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3058,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.3058, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3058, 0, 0, 0, 0, 0,
+ -169.3176, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3176,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.3176, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3176, 0, 0, 0, 0, 0,
+ -169.3296, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3296,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.3296, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3296, 0, 0, 0, 0, 0,
+ -169.3415, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3415,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.3415, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3415, 0, 0, 0, 0, 0,
+ -169.3534, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3534,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.3534, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3534, 0, 0, 0, 0, 0,
+ -169.3654, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.3654,
+ 0, 0, 0,
+ },
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+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3654, 0, 0, 0, 0, 0,
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+ 0.29633, 0, 0, 0, 0, 0, -169.3773,
+ 0, 0, 0,
+ },
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+ 0, -169.3773, 0, 0, 0, 0, 0,
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+ 0.29633, 0, 0, 0, 0, 0, -169.3893,
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+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.3893, 0, 0, 0, 0, 0,
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+ 0.29633, 0, 0, 0, 0, 0, -169.4011,
+ 0, 0, 0,
+ },
+ {
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+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.4011, 0, 0, 0, 0, 0,
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+ 0.29633, 0, 0, 0, 0, 0, -169.4131,
+ 0, 0, 0,
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+ {
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+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.4131, 0, 0, 0, 0, 0,
+ -169.4251, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.4251,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.4251, 0, 0, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, 0,
+ 0, -169.4251, 0, 0, 0, 0, 0,
+ -169.437, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.437,
+ 0, 0, 0,
+ },
+ {
+ 0, 0, -169.437, 0, 0, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, 0, 0, -169.437, 0, 0,
+ 0, 0, 0, -169.449, 0, 0, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0, 0, 0, -169.449, 0,
+ 0, 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/complete/acc.h b/src/tests/catch/nas/data/complete/acc.h
new file mode 100644
index 0000000000000000000000000000000000000000..6cb819b71d168771af030dbc02682d8ec50986c7
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/acc.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+AccelerometerData complete_acc[] = {
+ {
+ 20000,
+ 5.7433,
+ -0.03832,
+ -0.03353,
+ },
+ {
+ 40000,
+ 10.7728,
+ -0.02395,
+ -0.0479,
+ },
+ {
+ 60000,
+ 15.8407,
+ -0.01437,
+ 0.05269,
+ },
+ {
+ 80000,
+ 20.9085,
+ -0.062271,
+ 0.03353,
+ },
+ {
+ 100000,
+ 25.986,
+ -0.0479,
+ 0.00479,
+ },
+ {
+ 120000,
+ 31.0874,
+ -0.02874,
+ 0.02874,
+ },
+ {
+ 140000,
+ 36.2175,
+ -0.01437,
+ -0.00479,
+ },
+ {
+ 160000,
+ 41.2949,
+ 0.02874,
+ 0.062271,
+ },
+ {
+ 180000,
+ 46.3772,
+ 0.05748,
+ 0.00479,
+ },
+ {
+ 200000,
+ 51.56,
+ 0.03353,
+ -0.02395,
+ },
+ {
+ 220000,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
+ },
+ {
+ 240000,
+ 61.8155,
+ -0.01437,
+ 0.00479,
+ },
+ {
+ 259999,
+ 66.9312,
+ 0.00479,
+ -0.04311,
+ },
+ {
+ 280000,
+ 72.0039,
+ -0.05269,
+ 0,
+ },
+ {
+ 300000,
+ 72.2577,
+ 0.01437,
+ -0.01916,
+ },
+ {
+ 320000,
+ 71.5871,
+ 0.01916,
+ 0.05748,
+ },
+ {
+ 340000,
+ 70.9357,
+ 0.02874,
+ 0.03353,
+ },
+ {
+ 360000,
+ 70.2986,
+ 0,
+ -0.02395,
+ },
+ {
+ 380000,
+ 69.6663,
+ 0.04311,
+ -0.04311,
+ },
+ {
+ 400000,
+ 69.1059,
+ -0.067061,
+ 0.00479,
+ },
+ {
+ 420000,
+ 68.5455,
+ 0.01437,
+ 0.02395,
+ },
+ {
+ 440000,
+ 68.0138,
+ 0.03832,
+ 0.05748,
+ },
+ {
+ 460000,
+ 67.5491,
+ -0.03832,
+ 0.01916,
+ },
+ {
+ 480000,
+ 67.0653,
+ 0.0479,
+ 0.04311,
+ },
+ {
+ 500000,
+ 66.6342,
+ 0.0095801,
+ 0.04311,
+ },
+ {
+ 519999,
+ 66.2031,
+ -0.03832,
+ 0,
+ },
+ {
+ 540000,
+ 65.8247,
+ -0.0095801,
+ -0.00479,
+ },
+ {
+ 560000,
+ 65.4224,
+ 0.02395,
+ 0.0095801,
+ },
+ {
+ 580000,
+ 65.0535,
+ -0.0479,
+ 0.01437,
+ },
+ {
+ 600000,
+ 64.7661,
+ -0.01916,
+ 0.01437,
+ },
+ {
+ 620000,
+ 64.4691,
+ -0.086221,
+ 0.01437,
+ },
+ {
+ 640000,
+ 64.1482,
+ 0.01437,
+ -0.0095801,
+ },
+ {
+ 660000,
+ 63.971,
+ 0.0095801,
+ -0.03832,
+ },
+ {
+ 680000,
+ 63.6788,
+ 0,
+ 0.00479,
+ },
+ {
+ 700000,
+ 63.4297,
+ 0.0095801,
+ -0.02395,
+ },
+ {
+ 720000,
+ 63.2333,
+ -0.0095801,
+ 0.00479,
+ },
+ {
+ 740000,
+ 63.0992,
+ -0.02395,
+ -0.0095801,
+ },
+ {
+ 760000,
+ 62.9363,
+ 0.04311,
+ -0.0479,
+ },
+ {
+ 780000,
+ 62.807,
+ -0.02395,
+ 0.0095801,
+ },
+ {
+ 800000,
+ 62.6872,
+ -0.02874,
+ -0.03353,
+ },
+ {
+ 820000,
+ 62.5914,
+ 0.01916,
+ -0.0095801,
+ },
+ {
+ 840000,
+ 62.5052,
+ 0,
+ -0.02395,
+ },
+ {
+ 860000,
+ 62.4238,
+ 0.03832,
+ -0.0479,
+ },
+ {
+ 880000,
+ 62.3807,
+ -0.02874,
+ -0.03832,
+ },
+ {
+ 900000,
+ 62.3519,
+ -0.01916,
+ -0.02395,
+ },
+ {
+ 920000,
+ 62.3903,
+ 0.03832,
+ -0.03353,
+ },
+ {
+ 940000,
+ 62.4286,
+ 0.02395,
+ -0.00479,
+ },
+ {
+ 960000,
+ 62.4334,
+ -0.03353,
+ -0.04311,
+ },
+ {
+ 980000,
+ 62.5579,
+ -0.01437,
+ -0.05748,
+ },
+ {
+ 1000000,
+ 62.5723,
+ 0.02395,
+ -0.0479,
+ },
+ {
+ 1020000,
+ 62.7304,
+ -0.01437,
+ -0.03353,
+ },
+ {
+ 1039999,
+ 62.7974,
+ 0.01437,
+ -0.03832,
+ },
+ {
+ 1060000,
+ 62.8118,
+ -0.00479,
+ -0.091011,
+ },
+ {
+ 1080000,
+ 63.0609,
+ 0.0479,
+ -0.05748,
+ },
+ {
+ 1100000,
+ 63.1136,
+ -0.02874,
+ -0.02874,
+ },
+ {
+ 1120000,
+ 63.262,
+ 0.00479,
+ -0.062271,
+ },
+ {
+ 1140000,
+ 63.4345,
+ 0.02395,
+ -0.086221,
+ },
+ {
+ 1160000,
+ 63.5303,
+ 0.02874,
+ -0.12454,
+ },
+ {
+ 1180000,
+ 63.6405,
+ 0.01916,
+ -0.095801,
+ },
+ {
+ 1200000,
+ 63.8512,
+ 0.02395,
+ -0.091011,
+ },
+ {
+ 1220000,
+ 63.9949,
+ -0.03353,
+ -0.071851,
+ },
+ {
+ 1240000,
+ 64.2153,
+ 0.01916,
+ -0.12454,
+ },
+ {
+ 1260000,
+ 64.3733,
+ 0.0479,
+ -0.081431,
+ },
+ {
+ 1280000,
+ 64.517,
+ 0.03832,
+ -0.091011,
+ },
+ {
+ 1300000,
+ 64.6799,
+ 0.02395,
+ -0.10538,
+ },
+ {
+ 1320000,
+ 64.8523,
+ -0.00479,
+ -0.12454,
+ },
+ {
+ 1340000,
+ 65.0344,
+ 0.04311,
+ -0.11017,
+ },
+ {
+ 1360000,
+ 65.1493,
+ -0.00479,
+ -0.11496,
+ },
+ {
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diff --git a/src/tests/catch/nas/data/complete/baro.h b/src/tests/catch/nas/data/complete/baro.h
new file mode 100644
index 0000000000000000000000000000000000000000..400fe409ac5b36cce3d825a74c4a36463ad0b0fc
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/baro.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PressureData complete_baro[] = {
+ {
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+ 99449.4766,
+ },
+ {
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+ 99576.375,
+ },
+ {
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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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+ },
+ {
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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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diff --git a/src/tests/catch/nas/data/complete/config.h b/src/tests/catch/nas/data/complete/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..eda5062c742cf75c334bfe7b5550254505a5eec8
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig complete_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/complete/gps.h b/src/tests/catch/nas/data/complete/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..f3f2f6adc4ad6ed60f38038ccdd091c08499815c
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData complete_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 100000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 120000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 140000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
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diff --git a/src/tests/catch/nas/data/complete/gyro.h b/src/tests/catch/nas/data/complete/gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..1986bc3e83c0ad2d9b45091b932d0e3ccef884ec
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/gyro.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GyroscopeData complete_gyro[] = {
+ {
+ 20000,
+ 0,
+ 0.00013049,
+ -0.00013049,
+ },
+ {
+ 40000,
+ 0.00013049,
+ 0,
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+ 0.00013049,
+ -0.32806,
+ 0,
+ },
+ {
+ 24460000,
+ 0,
+ -0.33041,
+ 0.00013049,
+ },
+ {
+ 24480000,
+ -0.00013049,
+ -0.33263,
+ -0.00013049,
+ },
+ {
+ 24500000,
+ -0.00013049,
+ -0.33511,
+ -0.00013049,
+ },
+ {
+ 24520000,
+ -0.00013049,
+ -0.33733,
+ -0.00013049,
+ },
+ {
+ 24540000,
+ -0.00026099,
+ -0.33968,
+ -0.00013049,
+ },
+ {
+ 24560000,
+ -0.00013049,
+ -0.34203,
+ -0.00013049,
+ },
+ {
+ 24580000,
+ 0,
+ -0.34451,
+ 0,
+ },
+ {
+ 24600000,
+ -0.00013049,
+ -0.34672,
+ 0,
+ },
+ {
+ 24620000,
+ 0,
+ -0.34907,
+ 0,
+ },
+ {
+ 24640000,
+ 0,
+ -0.35142,
+ 0.00013049,
+ },
+ {
+ 24660000,
+ -0.00026099,
+ -0.3539,
+ -0.00013049,
+ },
+ {
+ 24680000,
+ -0.00026099,
+ -0.35638,
+ 0.00026099,
+ },
+ {
+ 24700000,
+ -0.00026099,
+ -0.3586,
+ 0,
+ },
+ {
+ 24720000,
+ 0.00013049,
+ -0.36108,
+ -0.00013049,
+ },
+ {
+ 24740000,
+ -0.00026099,
+ -0.3633,
+ 0,
+ },
+ {
+ 24760000,
+ -0.00013049,
+ -0.36578,
+ 0,
+ },
+ {
+ 24780000,
+ 0,
+ -0.36813,
+ -0.00026099,
+ },
+ {
+ 24800000,
+ -0.00026099,
+ -0.37034,
+ -0.00013049,
+ },
+ {
+ 24820000,
+ -0.00013049,
+ -0.37282,
+ -0.00013049,
+ },
+ {
+ 24840000,
+ -0.00026099,
+ -0.37543,
+ -0.00026099,
+ },
+ {
+ 24860000,
+ -0.00026099,
+ -0.37752,
+ -0.00013049,
+ },
+ {
+ 24880000,
+ 0.00013049,
+ -0.38013,
+ 0,
+ },
+ {
+ 24900000,
+ 0,
+ -0.38235,
+ -0.00013049,
+ },
+ {
+ 24920000,
+ 0,
+ -0.38496,
+ 0,
+ },
+ {
+ 24940000,
+ 0.00013049,
+ -0.38731,
+ 0,
+ },
+ {
+ 24960000,
+ 0.00013049,
+ -0.38953,
+ -0.00013049,
+ },
+ {
+ 24980000,
+ -0.00013049,
+ -0.39201,
+ -0.00013049,
+ },
+ {
+ 25000000,
+ 0,
+ -0.39449,
+ -0.00013049,
+ },
+ {
+ 25020000,
+ -0.00026099,
+ -0.3967,
+ 0,
+ },
+ {
+ 25040000,
+ -0.00013049,
+ -0.39918,
+ -0.00013049,
+ },
+ {
+ 25060000,
+ -0.00013049,
+ -0.40153,
+ 0.00013049,
+ },
+ {
+ 25080000,
+ 0,
+ -0.40388,
+ 0,
+ },
+ {
+ 25100000,
+ 0,
+ -0.4061,
+ -0.00013049,
+ },
+ {
+ 25120000,
+ 0,
+ -0.40832,
+ 0,
+ },
+ {
+ 25140000,
+ -0.00013049,
+ -0.41093,
+ 0,
+ },
+ {
+ 25160000,
+ 0.00013049,
+ -0.41328,
+ -0.00013049,
+ },
+ {
+ 25180000,
+ 0,
+ -0.41537,
+ 0,
+ },
+ {
+ 25200000,
+ 0,
+ -0.41798,
+ 0,
+ },
+ {
+ 25220000,
+ 0.00026099,
+ -0.42019,
+ -0.00013049,
+ },
+ {
+ 25240000,
+ 0.00013049,
+ -0.42215,
+ 0,
+ },
+ {
+ 25260000,
+ -0.00013049,
+ -0.42437,
+ 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/complete/include.h b/src/tests/catch/nas/data/complete/include.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ababf3030cf227b80ac758ee7f993ca674074bc
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/include.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/complete/input.h b/src/tests/catch/nas/data/complete/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..68f464c768770b7ba2dd191923fdbd0e1c915e8b
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/input.h
@@ -0,0 +1,3828 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState complete_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {7.047e-05, -8.6572e-05, -159.9978, -0.00011759, 0.00014453, 0.081894,
+ -0.61367, 0.26679, 0.68147, 0.29636, -1.2556e-09, -6.4969e-09,
+ 1.1794e-08}},
+ {60000,
+ {8.1416e-05, -9.8627e-05, -159.9747, -0.00045173, 0.00050815, 0.063826,
+ -0.61372, 0.26678, 0.68142, 0.29637, -1.2261e-09, -6.6131e-09,
+ 1.187e-08}},
+ {80000,
+ {8.723e-05, -0.00010471, -159.9962, -0.00073371, 0.00080361, -0.055177,
+ -0.61378, 0.26672, 0.68135, 0.29647, -3.4803e-09, -9.597e-09,
+ 2.1622e-08}},
+ {100000,
+ {9.1177e-05, -0.00010991, -159.9981, -0.00093411, 0.0010687, -0.27481,
+ -0.61379, 0.26668, 0.68131, 0.29659, -3.6913e-09, -9.5299e-09,
+ 2.2079e-08}},
+ {120000,
+ {5.1401e-05, -9.9406e-05, -159.999, -0.014583, 0.048454, -0.59539,
+ -0.61359, 0.26664, 0.68137, 0.29689, -1.1712e-08, 1.4345e-09,
+ 2.8365e-08}},
+ {140000,
+ {-0.00025427, 0.00082155, -159.9638, -0.015257, 0.050196, -1.0163,
+ -0.61362, 0.26668, 0.6814, 0.29674, -1.1282e-08, 1.1269e-09, 2.7658e-08}},
+ {160000,
+ {-0.00055941, 0.0018255, -160.0134, -0.066295, 0.10618, -1.5413, -0.61359,
+ 0.26678, 0.6815, 0.29646, -7.4285e-09, 4.1211e-10, 1.8626e-08}},
+ {180000,
+ {-0.0018853, 0.0039491, -159.9897, -0.12639, 0.17003, -2.2786, -0.61363,
+ 0.26667, 0.68138, 0.29675, -8.3336e-09, 4.4713e-10, 2.0921e-08}},
+ {200000,
+ {-0.0044132, 0.0073497, -159.9786, -0.19295, 0.24085, -3.1432, -0.61352,
+ 0.26662, 0.68139, 0.29701, -1.2058e-08, 4.544e-09, 2.5154e-08}},
+ {220000,
+ {-0.0082723, 0.012167, -160.0622, -0.26608, 0.32006, -3.9735, -0.61346,
+ 0.26674, 0.68153, 0.29671, -1.1005e-08, 4.6331e-09, 2.2313e-08}},
+ {240000,
+ {-0.013594, 0.018568, -160.1723, -0.34647, 0.40739, -4.9054, -0.61331,
+ 0.2667, 0.68157, 0.29695, -1.4349e-08, 9.0438e-09, 2.5159e-08}},
+ {259999,
+ {-0.020523, 0.026716, -160.237, -0.43452, 0.50365, -5.9368, -0.61342,
+ 0.26681, 0.68161, 0.29655, -1.2227e-08, 7.2653e-09, 2.2012e-08}},
+ {280000,
+ {-0.029213, 0.036789, -160.4886, -0.52979, 0.60594, -7.0028, -0.61344,
+ 0.26686, 0.68165, 0.29637, -1.0544e-08, 6.1825e-09, 1.9077e-08}},
+ {300000,
+ {-0.039809, 0.048908, -160.6021, -0.63228, 0.71703, -8.0065, -0.61341,
+ 0.26691, 0.68171, 0.29622, -9.8842e-09, 6.2192e-09, 1.7319e-08}},
+ {320000,
+ {-0.052455, 0.063248, -160.7889, -0.73621, 0.827, -9.4126, -0.61356,
+ 0.26679, 0.68152, 0.29647, -1.1229e-08, 4.145e-09, 2.353e-08}},
+ {340000,
+ {-0.067179, 0.079788, -161.0578, -0.83933, 0.93742, -10.6962, -0.61326,
+ 0.26702, 0.68189, 0.29605, -9.9642e-09, 7.0633e-09, 1.6409e-08}},
+ {360000,
+ {-0.083966, 0.098537, -161.2276, -0.94312, 1.0457, -11.8287, -0.61319,
+ 0.26707, 0.68197, 0.29594, -9.4386e-09, 7.9377e-09, 1.3896e-08}},
+ {380000,
+ {-0.10283, 0.11945, -161.4967, -1.0452, 1.1524, -13.0191, -0.6128, 0.26712,
+ 0.68221, 0.29616, -1.1979e-08, 1.3475e-08, 1.3185e-08}},
+ {400000,
+ {-0.12373, 0.1425, -161.7154, -1.1477, 1.258, -14.0666, -0.61295, 0.26701,
+ 0.68204, 0.29633, -1.26e-08, 1.1362e-08, 1.7594e-08}},
+ {420000,
+ {-0.14669, 0.16766, -161.9146, -1.2476, 1.3653, -15.3972, -0.61297,
+ 0.26688, 0.68191, 0.29671, -1.4747e-08, 1.1945e-08, 2.2398e-08}},
+ {440000,
+ {-0.17164, 0.19496, -162.0884, -1.3475, 1.4717, -16.6016, -0.61269,
+ 0.26682, 0.682, 0.29714, -1.9095e-08, 1.7815e-08, 2.5945e-08}},
+ {460000,
+ {-0.19859, 0.2244, -162.5268, -1.4476, 1.5785, -17.6944, -0.61297, 0.26674,
+ 0.68178, 0.29714, -1.8066e-08, 1.3921e-08, 2.8409e-08}},
+ {480000,
+ {-0.22754, 0.25597, -162.9448, -1.5445, 1.6849, -18.8926, -0.6133, 0.26676,
+ 0.68163, 0.29679, -1.4142e-08, 7.573e-09, 2.6631e-08}},
+ {500000,
+ {-0.25843, 0.28967, -163.3462, -1.6418, 1.7887, -19.9631, -0.61323,
+ 0.26676, 0.68167, 0.29684, -1.4744e-08, 8.7042e-09, 2.67e-08}},
+ {519999,
+ {-0.29127, 0.32544, -163.7792, -1.738, 1.8925, -21.0245, -0.61338, 0.26691,
+ 0.68173, 0.29626, -1.0063e-08, 4.8123e-09, 1.97e-08}},
+ {540000,
+ {-0.32603, 0.36329, -163.8366, -1.8328, 1.9944, -21.9408, -0.61354,
+ 0.26695, 0.68168, 0.296, -7.7701e-09, 1.8314e-09, 1.7683e-08}},
+ {560000,
+ {-0.36269, 0.40318, -164.4499, -1.9273, 2.0944, -22.7902, -0.61369, 0.267,
+ 0.68165, 0.29572, -5.2148e-09, -1.3006e-09, 1.5185e-08}},
+ {580000,
+ {-0.40123, 0.44507, -165.2495, -2.0218, 2.193, -24.0142, -0.61358, 0.26718,
+ 0.68187, 0.29527, -2.7621e-09, -8.6543e-10, 8.2463e-09}},
+ {600000,
+ {-0.44167, 0.48893, -165.4599, -2.1158, 2.2911, -25.0781, -0.61356,
+ 0.26727, 0.68197, 0.29502, -1.1632e-09, -1.1029e-09, 4.4366e-09}},
+ {620000,
+ {-0.48398, 0.53475, -166.0298, -2.2103, 2.388, -26.0576, -0.61369, 0.26717,
+ 0.6818, 0.29522, -1.8973e-09, -2.6166e-09, 8.3313e-09}},
+ {640000,
+ {-0.52819, 0.58251, -166.6182, -2.3027, 2.4856, -26.9316, -0.61361,
+ 0.26717, 0.68184, 0.2953, -2.823e-09, -1.088e-09, 8.731e-09}},
+ {660000,
+ {-0.57424, 0.63222, -167.0713, -2.3959, 2.5813, -27.6977, -0.61375,
+ 0.26726, 0.68185, 0.29489, 3.9256e-10, -4.2388e-09, 4.5417e-09}},
+ {680000,
+ {-0.62216, 0.68385, -167.6425, -2.4885, 2.6754, -28.9011, -0.61371,
+ 0.26733, 0.68193, 0.29472, 1.4275e-09, -4.1769e-09, 1.8009e-09}},
+ {700000,
+ {-0.67193, 0.73735, -168.4715, -2.5815, 2.7695, -30.0125, -0.61341,
+ 0.26739, 0.68215, 0.29479, -2.696e-10, 5.4727e-10, 5.943e-13}},
+ {720000,
+ {-0.72356, 0.79274, -168.8602, -2.6748, 2.8631, -31.0453, -0.61353,
+ 0.26733, 0.68204, 0.29486, -2.4014e-10, -1.0821e-09, 2.0377e-09}},
+ {740000,
+ {-0.77706, 0.85001, -169.4494, -2.7674, 2.9571, -31.9882, -0.61379, 0.2672,
+ 0.68178, 0.29503, -3.245e-10, -4.619e-09, 6.8842e-09}},
+ {760000,
+ {-0.8324, 0.90915, -170.1636, -2.8583, 3.051, -32.8418, -0.61318, 0.26751,
+ 0.68239, 0.2946, 8.5071e-11, 3.7228e-09, -5.003e-09}},
+ {780000,
+ {-0.88957, 0.97017, -170.7448, -2.952, 3.1429, -34.0154, -0.61297, 0.26762,
+ 0.6826, 0.29446, 2.3234e-10, 6.4787e-09, -8.9865e-09}},
+ {800000,
+ {-0.94861, 1.033, -171.853, -3.0462, 3.2362, -35.1198, -0.61315, 0.26748,
+ 0.68238, 0.29471, -7.0879e-10, 4.2958e-09, -3.7034e-09}},
+ {820000,
+ {-1.0095, 1.0977, -172.4678, -3.1386, 3.3291, -36.2406, -0.61326, 0.26739,
+ 0.68224, 0.29489, -1.3867e-09, 2.9845e-09, -2.3682e-10}},
+ {840000,
+ {-1.0723, 1.1643, -173.4528, -3.2312, 3.4219, -37.2817, -0.61311, 0.26755,
+ 0.68247, 0.29455, 2.8054e-10, 4.4405e-09, -6.4553e-09}},
+ {860000,
+ {-1.1369, 1.2328, -174.141, -3.3243, 3.514, -38.1967, -0.61316, 0.26741,
+ 0.68232, 0.2949, -1.8156e-09, 4.5036e-09, -1.1138e-09}},
+ {880000,
+ {-1.2034, 1.303, -175.0437, -3.4168, 3.6058, -39.3879, -0.61364, 0.26717,
+ 0.68186, 0.2952, -1.8551e-09, -2.1664e-09, 7.6948e-09}},
+ {900000,
+ {-1.2718, 1.3752, -175.9792, -3.5064, 3.6988, -40.4719, -0.61345, 0.26718,
+ 0.68197, 0.29533, -3.3705e-09, 8.5791e-10, 7.6686e-09}},
+ {920000,
+ {-1.3419, 1.4491, -176.738, -3.5967, 3.7922, -41.5791, -0.61317, 0.26716,
+ 0.68209, 0.29562, -6.399e-09, 5.6898e-09, 9.1728e-09}},
+ {940000,
+ {-1.4138, 1.525, -177.534, -3.6882, 3.8856, -42.584, -0.61365, 0.26691,
+ 0.68164, 0.29591, -6.3263e-09, -9.2988e-10, 1.7631e-08}},
+ {960000,
+ {-1.4876, 1.6027, -178.2665, -3.7781, 3.9799, -43.4853, -0.61337, 0.26685,
+ 0.68173, 0.29633, -1.014e-08, 4.0704e-09, 2.0896e-08}},
+ {980000,
+ {-1.5631, 1.6823, -179.0854, -3.8668, 4.0755, -44.445, -0.61297, 0.26701,
+ 0.68209, 0.29618, -1.0642e-08, 9.5517e-09, 1.5027e-08}},
+ {1000000,
+ {-1.6405, 1.7638, -180.4547, -3.9573, 4.1708, -45.3518, -0.61331, 0.26695,
+ 0.68188, 0.29602, -8.0848e-09, 3.7018e-09, 1.6114e-08}},
+ {1020000,
+ {-1.7196, 1.8472, -181.1909, -4.0477, 4.2652, -46.5107, -0.61319, 0.26714,
+ 0.68212, 0.29553, -5.1621e-09, 3.8726e-09, 8.3192e-09}},
+ {1039999,
+ {-1.8006, 1.9325, -182.4574, -4.139, 4.3597, -47.605, -0.6129, 0.26727,
+ 0.68242, 0.29534, -4.9514e-09, 7.4477e-09, 3.0818e-09}},
+ {1060000,
+ {-1.8834, 2.0197, -183.5251, -4.2319, 4.4537, -48.5798, -0.61306, 0.26721,
+ 0.6823, 0.29534, -4.1276e-09, 4.5642e-09, 4.7257e-09}},
+ {1080000,
+ {-1.968, 2.1088, -184.7895, -4.3234, 4.5472, -49.6375, -0.61271, 0.26714,
+ 0.68245, 0.29579, -8.3158e-09, 1.0596e-08, 7.7099e-09}},
+ {1100000,
+ {-2.0545, 2.1997, -185.7802, -4.4169, 4.642, -50.5757, -0.6127, 0.26725,
+ 0.68257, 0.29542, -5.6402e-09, 9.197e-09, 2.6073e-09}},
+ {1120000,
+ {-2.1428, 2.2926, -186.6295, -4.5103, 4.7377, -51.8235, -0.61301, 0.26716,
+ 0.68236, 0.29535, -3.702e-09, 3.6092e-09, 4.8926e-09}},
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+
+};
diff --git a/src/tests/catch/nas/data/complete/mag.h b/src/tests/catch/nas/data/complete/mag.h
new file mode 100644
index 0000000000000000000000000000000000000000..e7ede912609ab8ff0de131d6f0f037b971250680
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/mag.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+MagnetometerData complete_mag[] = {
+ {
+ 20000,
+ -373.52,
+ -193.14,
+ -146.16,
+ },
+ {
+ 40000,
+ -375.26,
+ -191.98,
+ -146.74,
+ },
+ {
+ 60000,
+ -374.1,
+ -193.14,
+ -145.58,
+ },
+ {
+ 80000,
+ -372.36,
+ -191.4,
+ -143.84,
+ },
+ {
+ 100000,
+ -372.94,
+ -191.98,
+ -140.94,
+ },
+ {
+ 120000,
+ -372.36,
+ -188.5,
+ -144.42,
+ },
+ {
+ 140000,
+ -374.68,
+ -187.92,
+ -145,
+ },
+ {
+ 160000,
+ -372.36,
+ -192.56,
+ -143.84,
+ },
+ {
+ 180000,
+ -374.68,
+ -192.56,
+ -143.26,
+ },
+ {
+ 200000,
+ -372.94,
+ -187.34,
+ -143.84,
+ },
+ {
+ 220000,
+ -375.84,
+ -192.56,
+ -143.26,
+ },
+ {
+ 240000,
+ -375.26,
+ -188.5,
+ -146.16,
+ },
+ {
+ 259999,
+ -377.58,
+ -190.82,
+ -146.16,
+ },
+ {
+ 280000,
+ -371.2,
+ -187.34,
+ -143.26,
+ },
+ {
+ 300000,
+ -374.68,
+ -193.14,
+ -145.58,
+ },
+ {
+ 320000,
+ -374.68,
+ -185.6,
+ -142.68,
+ },
+ {
+ 340000,
+ -374.1,
+ -188.5,
+ -143.84,
+ },
+ {
+ 360000,
+ -375.26,
+ -189.66,
+ -140.94,
+ },
+ {
+ 380000,
+ -374.68,
+ -191.98,
+ -145,
+ },
+ {
+ 400000,
+ -373.52,
+ -192.56,
+ -143.26,
+ },
+ {
+ 420000,
+ -372.94,
+ -191.4,
+ -140.36,
+ },
+ {
+ 440000,
+ -376.42,
+ -193.14,
+ -146.74,
+ },
+ {
+ 460000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 480000,
+ -373.52,
+ -190.24,
+ -143.26,
+ },
+ {
+ 500000,
+ -374.1,
+ -186.76,
+ -146.16,
+ },
+ {
+ 519999,
+ -371.2,
+ -187.34,
+ -145,
+ },
+ {
+ 540000,
+ -375.26,
+ -189.08,
+ -146.74,
+ },
+ {
+ 560000,
+ -375.26,
+ -186.18,
+ -145,
+ },
+ {
+ 580000,
+ -375.84,
+ -187.92,
+ -145.58,
+ },
+ {
+ 600000,
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+ -145,
+ },
+ {
+ 620000,
+ -373.52,
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+ -143.84,
+ },
+ {
+ 640000,
+ -372.94,
+ -186.18,
+ -146.16,
+ },
+ {
+ 660000,
+ -374.1,
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+ -145,
+ },
+ {
+ 680000,
+ -373.52,
+ -187.34,
+ -142.1,
+ },
+ {
+ 700000,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 720000,
+ -369.46,
+ -189.08,
+ -145,
+ },
+ {
+ 740000,
+ -377,
+ -183.86,
+ -141.52,
+ },
+ {
+ 760000,
+ -378.16,
+ -187.92,
+ -144.42,
+ },
+ {
+ 780000,
+ -372.94,
+ -190.24,
+ -145,
+ },
+ {
+ 800000,
+ -375.26,
+ -190.82,
+ -145.58,
+ },
+ {
+ 820000,
+ -377.58,
+ -186.76,
+ -145,
+ },
+ {
+ 840000,
+ -375.84,
+ -191.98,
+ -145,
+ },
+ {
+ 860000,
+ -373.52,
+ -193.14,
+ -147.9,
+ },
+ {
+ 880000,
+ -372.94,
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+ -142.68,
+ },
+ {
+ 900000,
+ -374.68,
+ -190.24,
+ -142.1,
+ },
+ {
+ 920000,
+ -372.36,
+ -193.14,
+ -147.32,
+ },
+ {
+ 940000,
+ -374.68,
+ -191.98,
+ -142.1,
+ },
+ {
+ 960000,
+ -376.42,
+ -187.92,
+ -142.1,
+ },
+ {
+ 980000,
+ -372.94,
+ -189.66,
+ -146.74,
+ },
+ {
+ 1000000,
+ -374.68,
+ -185.6,
+ -144.42,
+ },
+ {
+ 1020000,
+ -375.26,
+ -186.76,
+ -142.68,
+ },
+ {
+ 1039999,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 1060000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1080000,
+ -374.1,
+ -186.18,
+ -144.42,
+ },
+ {
+ 1100000,
+ -372.36,
+ -189.08,
+ -146.16,
+ },
+ {
+ 1120000,
+ -371.78,
+ -189.66,
+ -143.26,
+ },
+ {
+ 1140000,
+ -377,
+ -190.82,
+ -147.9,
+ },
+ {
+ 1160000,
+ -377.58,
+ -190.82,
+ -145,
+ },
+ {
+ 1180000,
+ -374.68,
+ -190.82,
+ -145,
+ },
+ {
+ 1200000,
+ -374.68,
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+ -143.26,
+ },
+ {
+ 1220000,
+ -375.26,
+ -189.08,
+ -143.84,
+ },
+ {
+ 1240000,
+ -373.52,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1260000,
+ -371.78,
+ -187.92,
+ -146.16,
+ },
+ {
+ 1280000,
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+ },
+ {
+ 1300000,
+ -371.78,
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+ -142.68,
+ },
+ {
+ 1320000,
+ -374.1,
+ -190.24,
+ -145,
+ },
+ {
+ 1340000,
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+ -191.4,
+ -143.26,
+ },
+ {
+ 1360000,
+ -372.94,
+ -190.24,
+ -143.84,
+ },
+ {
+ 1380000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 1400000,
+ -374.1,
+ -191.98,
+ -142.68,
+ },
+ {
+ 1420000,
+ -376.42,
+ -192.56,
+ -142.68,
+ },
+ {
+ 1440000,
+ -377.58,
+ -191.98,
+ -139.2,
+ },
+ {
+ 1460000,
+ -378.16,
+ -191.98,
+ -145,
+ },
+ {
+ 1480000,
+ -371.2,
+ -190.82,
+ -140.36,
+ },
+ {
+ 1500000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1520000,
+ -374.1,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1540000,
+ -377,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1560000,
+ -373.52,
+ -190.82,
+ -139.2,
+ },
+ {
+ 1580000,
+ -374.68,
+ -188.5,
+ -140.36,
+ },
+ {
+ 1600000,
+ -374.1,
+ -191.4,
+ -142.1,
+ },
+ {
+ 1620000,
+ -375.26,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1640000,
+ -374.68,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1660000,
+ -374.1,
+ -189.66,
+ -139.78,
+ },
+ {
+ 1680000,
+ -376.42,
+ -189.08,
+ -140.94,
+ },
+ {
+ 1700000,
+ -372.36,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1720000,
+ -375.26,
+ -189.66,
+ -136.3,
+ },
+ {
+ 1740000,
+ -377,
+ -189.66,
+ -142.1,
+ },
+ {
+ 1760000,
+ -377,
+ -190.24,
+ -140.94,
+ },
+ {
+ 1780000,
+ -379.9,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1800000,
+ -376.42,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1820000,
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+ -137.46,
+ },
+ {
+ 1840000,
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+ },
+ {
+ 1860000,
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+ },
+ {
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+ },
+ {
+ 1900000,
+ -377,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1920000,
+ -377,
+ -187.34,
+ -135.72,
+ },
+ {
+ 1940000,
+ -378.74,
+ -192.56,
+ -135.14,
+ },
+ {
+ 1960000,
+ -380.48,
+ -188.5,
+ -142.1,
+ },
+ {
+ 1980000,
+ -375.26,
+ -186.76,
+ -138.62,
+ },
+ {
+ 2000000,
+ -371.78,
+ -187.92,
+ -138.62,
+ },
+ {
+ 2020000,
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+ },
+ {
+ 2040000,
+ -378.16,
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+ -137.46,
+ },
+ {
+ 2060000,
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+ },
+ {
+ 2079999,
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+ },
+ {
+ 2100000,
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+ -135.72,
+ },
+ {
+ 2120000,
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+ },
+ {
+ 2140000,
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+ },
+ {
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+ },
+ {
+ 2180000,
+ -378.16,
+ -191.4,
+ -132.82,
+ },
+ {
+ 2200000,
+ -378.16,
+ -188.5,
+ -138.62,
+ },
+ {
+ 2220000,
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+ -191.98,
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+ },
+ {
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+ },
+ {
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+ {
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+ },
+ {
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+ },
+ {
+ 2320000,
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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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diff --git a/src/tests/catch/nas/data/complete/output.h b/src/tests/catch/nas/data/complete/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..d281500253d7cb2f74ba3260576414b5f9c8b90b
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/output.h
@@ -0,0 +1,3829 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState complete_output[] = {
+ {20000,
+ {7.047e-05, -8.6572e-05, -159.9978, -0.00011759, 0.00014453, 0.081894,
+ -0.61367, 0.26679, 0.68147, 0.29636, -1.2556e-09, -6.4969e-09,
+ 1.1794e-08}},
+ {40000,
+ {8.1416e-05, -9.8627e-05, -159.9747, -0.00045173, 0.00050815, 0.063826,
+ -0.61372, 0.26678, 0.68142, 0.29637, -1.2261e-09, -6.6131e-09,
+ 1.187e-08}},
+ {60000,
+ {8.723e-05, -0.00010471, -159.9962, -0.00073371, 0.00080361, -0.055177,
+ -0.61378, 0.26672, 0.68135, 0.29647, -3.4803e-09, -9.597e-09,
+ 2.1622e-08}},
+ {80000,
+ {9.1177e-05, -0.00010991, -159.9981, -0.00093411, 0.0010687, -0.27481,
+ -0.61379, 0.26668, 0.68131, 0.29659, -3.6913e-09, -9.5299e-09,
+ 2.2079e-08}},
+ {100000,
+ {5.1401e-05, -9.9406e-05, -159.999, -0.014583, 0.048454, -0.59539,
+ -0.61359, 0.26664, 0.68137, 0.29689, -1.1712e-08, 1.4345e-09,
+ 2.8365e-08}},
+ {120000,
+ {-0.00025427, 0.00082155, -159.9638, -0.015257, 0.050196, -1.0163,
+ -0.61362, 0.26668, 0.6814, 0.29674, -1.1282e-08, 1.1269e-09, 2.7658e-08}},
+ {140000,
+ {-0.00055941, 0.0018255, -160.0134, -0.066295, 0.10618, -1.5413, -0.61359,
+ 0.26678, 0.6815, 0.29646, -7.4285e-09, 4.1211e-10, 1.8626e-08}},
+ {160000,
+ {-0.0018853, 0.0039491, -159.9897, -0.12639, 0.17003, -2.2786, -0.61363,
+ 0.26667, 0.68138, 0.29675, -8.3336e-09, 4.4713e-10, 2.0921e-08}},
+ {180000,
+ {-0.0044132, 0.0073497, -159.9786, -0.19295, 0.24085, -3.1432, -0.61352,
+ 0.26662, 0.68139, 0.29701, -1.2058e-08, 4.544e-09, 2.5154e-08}},
+ {200000,
+ {-0.0082723, 0.012167, -160.0622, -0.26608, 0.32006, -3.9735, -0.61346,
+ 0.26674, 0.68153, 0.29671, -1.1005e-08, 4.6331e-09, 2.2313e-08}},
+ {220000,
+ {-0.013594, 0.018568, -160.1723, -0.34647, 0.40739, -4.9054, -0.61331,
+ 0.2667, 0.68157, 0.29695, -1.4349e-08, 9.0438e-09, 2.5159e-08}},
+ {240000,
+ {-0.020523, 0.026716, -160.237, -0.43452, 0.50365, -5.9368, -0.61342,
+ 0.26681, 0.68161, 0.29655, -1.2227e-08, 7.2653e-09, 2.2012e-08}},
+ {259999,
+ {-0.029213, 0.036789, -160.4886, -0.52979, 0.60594, -7.0028, -0.61344,
+ 0.26686, 0.68165, 0.29637, -1.0544e-08, 6.1825e-09, 1.9077e-08}},
+ {280000,
+ {-0.039809, 0.048908, -160.6021, -0.63228, 0.71703, -8.0065, -0.61341,
+ 0.26691, 0.68171, 0.29622, -9.8842e-09, 6.2192e-09, 1.7319e-08}},
+ {300000,
+ {-0.052455, 0.063248, -160.7889, -0.73621, 0.827, -9.4126, -0.61356,
+ 0.26679, 0.68152, 0.29647, -1.1229e-08, 4.145e-09, 2.353e-08}},
+ {320000,
+ {-0.067179, 0.079788, -161.0578, -0.83933, 0.93742, -10.6962, -0.61326,
+ 0.26702, 0.68189, 0.29605, -9.9642e-09, 7.0633e-09, 1.6409e-08}},
+ {340000,
+ {-0.083966, 0.098537, -161.2276, -0.94312, 1.0457, -11.8287, -0.61319,
+ 0.26707, 0.68197, 0.29594, -9.4386e-09, 7.9377e-09, 1.3896e-08}},
+ {360000,
+ {-0.10283, 0.11945, -161.4967, -1.0452, 1.1524, -13.0191, -0.6128, 0.26712,
+ 0.68221, 0.29616, -1.1979e-08, 1.3475e-08, 1.3185e-08}},
+ {380000,
+ {-0.12373, 0.1425, -161.7154, -1.1477, 1.258, -14.0666, -0.61295, 0.26701,
+ 0.68204, 0.29633, -1.26e-08, 1.1362e-08, 1.7594e-08}},
+ {400000,
+ {-0.14669, 0.16766, -161.9146, -1.2476, 1.3653, -15.3972, -0.61297,
+ 0.26688, 0.68191, 0.29671, -1.4747e-08, 1.1945e-08, 2.2398e-08}},
+ {420000,
+ {-0.17164, 0.19496, -162.0884, -1.3475, 1.4717, -16.6016, -0.61269,
+ 0.26682, 0.682, 0.29714, -1.9095e-08, 1.7815e-08, 2.5945e-08}},
+ {440000,
+ {-0.19859, 0.2244, -162.5268, -1.4476, 1.5785, -17.6944, -0.61297, 0.26674,
+ 0.68178, 0.29714, -1.8066e-08, 1.3921e-08, 2.8409e-08}},
+ {460000,
+ {-0.22754, 0.25597, -162.9448, -1.5445, 1.6849, -18.8926, -0.6133, 0.26676,
+ 0.68163, 0.29679, -1.4142e-08, 7.573e-09, 2.6631e-08}},
+ {480000,
+ {-0.25843, 0.28967, -163.3462, -1.6418, 1.7887, -19.9631, -0.61323,
+ 0.26676, 0.68167, 0.29684, -1.4744e-08, 8.7042e-09, 2.67e-08}},
+ {500000,
+ {-0.29127, 0.32544, -163.7792, -1.738, 1.8925, -21.0245, -0.61338, 0.26691,
+ 0.68173, 0.29626, -1.0063e-08, 4.8123e-09, 1.97e-08}},
+ {519999,
+ {-0.32603, 0.36329, -163.8366, -1.8328, 1.9944, -21.9408, -0.61354,
+ 0.26695, 0.68168, 0.296, -7.7701e-09, 1.8314e-09, 1.7683e-08}},
+ {540000,
+ {-0.36269, 0.40318, -164.4499, -1.9273, 2.0944, -22.7902, -0.61369, 0.267,
+ 0.68165, 0.29572, -5.2148e-09, -1.3006e-09, 1.5185e-08}},
+ {560000,
+ {-0.40123, 0.44507, -165.2495, -2.0218, 2.193, -24.0142, -0.61358, 0.26718,
+ 0.68187, 0.29527, -2.7621e-09, -8.6543e-10, 8.2463e-09}},
+ {580000,
+ {-0.44167, 0.48893, -165.4599, -2.1158, 2.2911, -25.0781, -0.61356,
+ 0.26727, 0.68197, 0.29502, -1.1632e-09, -1.1029e-09, 4.4366e-09}},
+ {600000,
+ {-0.48398, 0.53475, -166.0298, -2.2103, 2.388, -26.0576, -0.61369, 0.26717,
+ 0.6818, 0.29522, -1.8973e-09, -2.6166e-09, 8.3313e-09}},
+ {620000,
+ {-0.52819, 0.58251, -166.6182, -2.3027, 2.4856, -26.9316, -0.61361,
+ 0.26717, 0.68184, 0.2953, -2.823e-09, -1.088e-09, 8.731e-09}},
+ {640000,
+ {-0.57424, 0.63222, -167.0713, -2.3959, 2.5813, -27.6977, -0.61375,
+ 0.26726, 0.68185, 0.29489, 3.9256e-10, -4.2388e-09, 4.5417e-09}},
+ {660000,
+ {-0.62216, 0.68385, -167.6425, -2.4885, 2.6754, -28.9011, -0.61371,
+ 0.26733, 0.68193, 0.29472, 1.4275e-09, -4.1769e-09, 1.8009e-09}},
+ {680000,
+ {-0.67193, 0.73735, -168.4715, -2.5815, 2.7695, -30.0125, -0.61341,
+ 0.26739, 0.68215, 0.29479, -2.696e-10, 5.4727e-10, 5.943e-13}},
+ {700000,
+ {-0.72356, 0.79274, -168.8602, -2.6748, 2.8631, -31.0453, -0.61353,
+ 0.26733, 0.68204, 0.29486, -2.4014e-10, -1.0821e-09, 2.0377e-09}},
+ {720000,
+ {-0.77706, 0.85001, -169.4494, -2.7674, 2.9571, -31.9882, -0.61379, 0.2672,
+ 0.68178, 0.29503, -3.245e-10, -4.619e-09, 6.8842e-09}},
+ {740000,
+ {-0.8324, 0.90915, -170.1636, -2.8583, 3.051, -32.8418, -0.61318, 0.26751,
+ 0.68239, 0.2946, 8.5071e-11, 3.7228e-09, -5.003e-09}},
+ {760000,
+ {-0.88957, 0.97017, -170.7448, -2.952, 3.1429, -34.0154, -0.61297, 0.26762,
+ 0.6826, 0.29446, 2.3234e-10, 6.4787e-09, -8.9865e-09}},
+ {780000,
+ {-0.94861, 1.033, -171.853, -3.0462, 3.2362, -35.1198, -0.61315, 0.26748,
+ 0.68238, 0.29471, -7.0879e-10, 4.2958e-09, -3.7034e-09}},
+ {800000,
+ {-1.0095, 1.0977, -172.4678, -3.1386, 3.3291, -36.2406, -0.61326, 0.26739,
+ 0.68224, 0.29489, -1.3867e-09, 2.9845e-09, -2.3682e-10}},
+ {820000,
+ {-1.0723, 1.1643, -173.4528, -3.2312, 3.4219, -37.2817, -0.61311, 0.26755,
+ 0.68247, 0.29455, 2.8054e-10, 4.4405e-09, -6.4553e-09}},
+ {840000,
+ {-1.1369, 1.2328, -174.141, -3.3243, 3.514, -38.1967, -0.61316, 0.26741,
+ 0.68232, 0.2949, -1.8156e-09, 4.5036e-09, -1.1138e-09}},
+ {860000,
+ {-1.2034, 1.303, -175.0437, -3.4168, 3.6058, -39.3879, -0.61364, 0.26717,
+ 0.68186, 0.2952, -1.8551e-09, -2.1664e-09, 7.6948e-09}},
+ {880000,
+ {-1.2718, 1.3752, -175.9792, -3.5064, 3.6988, -40.4719, -0.61345, 0.26718,
+ 0.68197, 0.29533, -3.3705e-09, 8.5791e-10, 7.6686e-09}},
+ {900000,
+ {-1.3419, 1.4491, -176.738, -3.5967, 3.7922, -41.5791, -0.61317, 0.26716,
+ 0.68209, 0.29562, -6.399e-09, 5.6898e-09, 9.1728e-09}},
+ {920000,
+ {-1.4138, 1.525, -177.534, -3.6882, 3.8856, -42.584, -0.61365, 0.26691,
+ 0.68164, 0.29591, -6.3263e-09, -9.2988e-10, 1.7631e-08}},
+ {940000,
+ {-1.4876, 1.6027, -178.2665, -3.7781, 3.9799, -43.4853, -0.61337, 0.26685,
+ 0.68173, 0.29633, -1.014e-08, 4.0704e-09, 2.0896e-08}},
+ {960000,
+ {-1.5631, 1.6823, -179.0854, -3.8668, 4.0755, -44.445, -0.61297, 0.26701,
+ 0.68209, 0.29618, -1.0642e-08, 9.5517e-09, 1.5027e-08}},
+ {980000,
+ {-1.6405, 1.7638, -180.4547, -3.9573, 4.1708, -45.3518, -0.61331, 0.26695,
+ 0.68188, 0.29602, -8.0848e-09, 3.7018e-09, 1.6114e-08}},
+ {1000000,
+ {-1.7196, 1.8472, -181.1909, -4.0477, 4.2652, -46.5107, -0.61319, 0.26714,
+ 0.68212, 0.29553, -5.1621e-09, 3.8726e-09, 8.3192e-09}},
+ {1020000,
+ {-1.8006, 1.9325, -182.4574, -4.139, 4.3597, -47.605, -0.6129, 0.26727,
+ 0.68242, 0.29534, -4.9514e-09, 7.4477e-09, 3.0818e-09}},
+ {1039999,
+ {-1.8834, 2.0197, -183.5251, -4.2319, 4.4537, -48.5798, -0.61306, 0.26721,
+ 0.6823, 0.29534, -4.1276e-09, 4.5642e-09, 4.7257e-09}},
+ {1060000,
+ {-1.968, 2.1088, -184.7895, -4.3234, 4.5472, -49.6375, -0.61271, 0.26714,
+ 0.68245, 0.29579, -8.3158e-09, 1.0596e-08, 7.7099e-09}},
+ {1080000,
+ {-2.0545, 2.1997, -185.7802, -4.4169, 4.642, -50.5757, -0.6127, 0.26725,
+ 0.68257, 0.29542, -5.6402e-09, 9.197e-09, 2.6073e-09}},
+ {1100000,
+ {-2.1428, 2.2926, -186.6295, -4.5103, 4.7377, -51.8235, -0.61301, 0.26716,
+ 0.68236, 0.29535, -3.702e-09, 3.6092e-09, 4.8926e-09}},
+ {1120000,
+ {-2.233, 2.3873, -187.4717, -4.6031, 4.8323, -52.9613, -0.61302, 0.26705,
+ 0.68229, 0.2956, -4.971e-09, 3.4117e-09, 8.4446e-09}},
+ {1140000,
+ {-2.3251, 2.484, -188.405, -4.6958, 4.9271, -54.0011, -0.61326, 0.267,
+ 0.68215, 0.29544, -2.6803e-09, -1.4777e-09, 8.9171e-09}},
+ {1160000,
+ {-2.419, 2.5825, -189.4885, -4.7876, 5.0209, -54.9885, -0.61314, 0.26698,
+ 0.68224, 0.29551, -3.2081e-09, -3.6791e-10, 8.8316e-09}},
+ {1180000,
+ {-2.5147, 2.6829, -190.5686, -4.88, 5.1158, -55.8794, -0.61318, 0.26689,
+ 0.68218, 0.29565, -3.6118e-09, -1.498e-09, 1.1362e-08}},
+ {1200000,
+ {-2.6123, 2.7853, -191.8907, -4.9726, 5.2113, -57.0903, -0.61301, 0.26684,
+ 0.68227, 0.29583, -5.0562e-09, 4.4653e-10, 1.2561e-08}},
+ {1220000,
+ {-2.7118, 2.8895, -193.2101, -5.0651, 5.3086, -58.1902, -0.61287, 0.26685,
+ 0.68241, 0.2958, -4.9377e-09, 1.3491e-09, 1.1062e-08}},
+ {1240000,
+ {-2.8131, 2.9957, -194.329, -5.1585, 5.405, -59.1723, -0.61259, 0.26682,
+ 0.68259, 0.29599, -6.8411e-09, 4.8994e-09, 1.1344e-08}},
+ {1260000,
+ {-2.9163, 3.1038, -195.1102, -5.2536, 5.5025, -60.2035, -0.61289, 0.26677,
+ 0.68245, 0.29574, -3.4519e-09, -1.6295e-09, 1.1121e-08}},
+ {1280000,
+ {-3.0213, 3.2138, -195.9476, -5.3482, 5.5995, -61.141, -0.61253, 0.26679,
+ 0.68272, 0.29584, -4.9856e-09, 2.7222e-09, 9.3882e-09}},
+ {1300000,
+ {-3.1283, 3.3258, -197.2114, -5.4436, 5.6975, -62.3372, -0.61248, 0.26672,
+ 0.68275, 0.29594, -5.1869e-09, 2.2665e-09, 1.0518e-08}},
+ {1320000,
+ {-3.2372, 3.4397, -198.2321, -5.5385, 5.7961, -63.4056, -0.61259, 0.26661,
+ 0.68268, 0.29598, -4.3712e-09, -8.7641e-10, 1.253e-08}},
+ {1340000,
+ {-3.3479, 3.5557, -199.5039, -5.6343, 5.8947, -64.3922, -0.61234, 0.26656,
+ 0.68284, 0.29617, -5.8879e-09, 1.5746e-09, 1.3253e-08}},
+ {1360000,
+ {-3.4606, 3.6736, -200.9872, -5.7299, 5.9947, -65.6015, -0.61239, 0.26643,
+ 0.68279, 0.2963, -5.8021e-09, -7.0797e-10, 1.6035e-08}},
+ {1380000,
+ {-3.5752, 3.7934, -202.5418, -5.8258, 6.095, -66.7052, -0.6127, 0.26634,
+ 0.68264, 0.29608, -2.3293e-09, -7.8692e-09, 1.6452e-08}},
+ {1400000,
+ {-3.6917, 3.9153, -203.8455, -5.9213, 6.1949, -67.8608, -0.61255, 0.26618,
+ 0.68267, 0.29647, -4.6854e-09, -6.6057e-09, 2.0928e-08}},
+ {1420000,
+ {-3.8102, 4.0392, -205.5054, -6.0159, 6.2974, -68.9343, -0.61231, 0.26606,
+ 0.68278, 0.29681, -6.9824e-09, -4.2413e-09, 2.3796e-08}},
+ {1440000,
+ {-3.9305, 4.1652, -206.8402, -6.1124, 6.4007, -69.8804, -0.61167, 0.26603,
+ 0.68318, 0.29725, -1.1551e-08, 4.4122e-09, 2.4288e-08}},
+ {1460000,
+ {-4.0527, 4.2932, -208.4556, -6.2105, 6.5046, -71.1203, -0.61168, 0.26595,
+ 0.68322, 0.29719, -1.0203e-08, 1.7953e-09, 2.4245e-08}},
+ {1480000,
+ {-4.1769, 4.4233, -209.3844, -6.3077, 6.6089, -72.1933, -0.61152, 0.26578,
+ 0.68327, 0.29756, -1.2286e-08, 2.7019e-09, 2.8494e-08}},
+ {1500000,
+ {-4.3031, 4.5555, -210.538, -6.4053, 6.7149, -73.3661, -0.61127, 0.26571,
+ 0.68345, 0.29773, -1.3404e-08, 4.4582e-09, 2.9084e-08}},
+ {1520000,
+ {-4.4312, 4.6898, -212.1847, -6.5041, 6.8228, -74.4658, -0.61108, 0.26561,
+ 0.68359, 0.2979, -1.4217e-08, 5.2383e-09, 3.0179e-08}},
+ {1540000,
+ {-4.5613, 4.8262, -214.0812, -6.6038, 6.9305, -75.48, -0.61082, 0.26559,
+ 0.68382, 0.29791, -1.424e-08, 6.4509e-09, 2.8584e-08}},
+ {1560000,
+ {-4.6934, 4.9648, -215.8752, -6.7042, 7.0392, -76.7016, -0.61053, 0.26547,
+ 0.684, 0.29819, -1.6185e-08, 8.9276e-09, 3.0394e-08}},
+ {1580000,
+ {-4.8274, 5.1056, -217.486, -6.8059, 7.1498, -77.7953, -0.61028, 0.2655,
+ 0.68427, 0.29806, -1.511e-08, 9.3965e-09, 2.6852e-08}},
+ {1600000,
+ {-4.9636, 5.2486, -219.4226, -6.908, 7.2602, -79.0781, -0.61034, 0.26534,
+ 0.68424, 0.29816, -1.4364e-08, 5.9387e-09, 2.9513e-08}},
+ {1620000,
+ {-5.1017, 5.3938, -221.0081, -7.0102, 7.371, -80.2145, -0.61021, 0.26536,
+ 0.68445, 0.29792, -1.2133e-08, 4.3288e-09, 2.5704e-08}},
+ {1640000,
+ {-5.2419, 5.5413, -222.6293, -7.115, 7.4828, -81.2452, -0.61013, 0.26531,
+ 0.68459, 0.29779, -1.0385e-08, 2.1388e-09, 2.4023e-08}},
+ {1660000,
+ {-5.3842, 5.6909, -224.0157, -7.2191, 7.5942, -82.467, -0.60993, 0.26523,
+ 0.68477, 0.29789, -1.064e-08, 2.5241e-09, 2.4184e-08}},
+ {1680000,
+ {-5.5286, 5.8428, -225.7405, -7.3229, 7.7063, -83.5983, -0.60974, 0.26522,
+ 0.685, 0.29775, -9.2432e-09, 1.9217e-09, 2.1291e-08}},
+ {1700000,
+ {-5.6751, 5.9969, -227.4936, -7.4285, 7.8188, -84.8755, -0.60987, 0.26501,
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+ {-443.2669, 475.0514, -3168.7844, -16.2316, 17.4306, -25.113, -0.21131,
+ 0.093941, 0.89229, 0.38775, 4.8774e-09, -5.9813e-08, 7.1654e-10}},
+ {24220000,
+ {-443.5913, 475.4001, -3168.9978, -16.2304, 17.4092, -24.8571, -0.20845,
+ 0.091579, 0.89319, 0.38779, 8.5291e-09, -5.7435e-08, 7.4359e-09}},
+ {24240000,
+ {-443.9158, 475.7485, -3169.3159, -16.2304, 17.4027, -24.6337, -0.20539,
+ 0.090854, 0.89373, 0.38833, 4.9091e-09, -5.2974e-08, 6.0789e-09}},
+ {24260000,
+ {-444.2403, 476.0969, -3169.7715, -16.2304, 17.401, -24.7437, -0.20269,
+ 0.089877, 0.89431, 0.38865, 4.307e-09, -5.3603e-08, 4.816e-09}},
+ {24280000,
+ {-444.5648, 476.4453, -3169.0186, -16.2304, 17.4007, -24.7509, -0.19992,
+ 0.088977, 0.89487, 0.38901, 3.1973e-09, -5.3753e-08, 3.2379e-09}},
+ {24300000,
+ {-444.8896, 476.7938, -3169.0925, -16.3064, 17.4627, -24.3896, -0.19697,
+ 0.087301, 0.8956, 0.38922, 4.1164e-09, -5.1564e-08, 6.0553e-09}},
+ {24320000,
+ {-445.2159, 477.1433, -3169.4773, -16.3088, 17.4801, -24.0932, -0.19426,
+ 0.085766, 0.89627, 0.38935, 5.9615e-09, -5.3104e-08, 7.2409e-09}},
+ {24340000,
+ {-445.5422, 477.4931, -3169.4065, -16.3089, 17.4855, -23.7933, -0.1917,
+ 0.084729, 0.89684, 0.38956, 6.7441e-09, -5.6991e-08, 5.2984e-09}},
+ {24360000,
+ {-445.8686, 477.843, -3169.8542, -16.3089, 17.4871, -23.7869, -0.18944,
+ 0.083037, 0.89752, 0.38945, 1.1927e-08, -6.5217e-08, 5.5689e-09}},
+ {24380000,
+ {-446.1949, 478.1928, -3169.9976, -16.3089, 17.4877, -23.7592, -0.18669,
+ 0.081818, 0.89812, 0.38967, 1.2533e-08, -6.7067e-08, 4.9317e-09}},
+ {24400000,
+ {-446.521, 478.5424, -3170.1521, -16.2324, 17.4621, -23.7353, -0.18329,
+ 0.080086, 0.89882, 0.39002, 1.1712e-08, -6.0153e-08, 9.0827e-09}},
+ {24420000,
+ {-446.8456, 478.8916, -3170.907, -16.2301, 17.4544, -23.7638, -0.18106,
+ 0.078614, 0.89945, 0.3899, 1.6469e-08, -6.995e-08, 7.5238e-09}},
+ {24440000,
+ {-447.1701, 479.2408, -3171.0693, -16.23, 17.4519, -23.7434, -0.17784,
+ 0.077732, 0.89996, 0.39039, 1.3298e-08, -6.6203e-08, 6.5049e-09}},
+ {24460000,
+ {-447.4947, 479.5898, -3171.3218, -16.23, 17.4515, -23.7334, -0.17465,
+ 0.076538, 0.90052, 0.39077, 1.1683e-08, -6.3214e-08, 6.8035e-09}},
+ {24480000,
+ {-447.8193, 479.9389, -3170.7429, -16.23, 17.4516, -23.6584, -0.17175,
+ 0.075071, 0.90113, 0.39093, 1.2914e-08, -6.454e-08, 7.2688e-09}},
+ {24500000,
+ {-448.144, 480.287, -3170.4922, -16.2324, 17.3484, -23.7126, -0.16914,
+ 0.074053, 0.90164, 0.39109, 1.3892e-08, -7.0268e-08, 4.3093e-09}},
+ {24520000,
+ {-448.4687, 480.6336, -3171.0625, -16.2324, 17.3184, -23.8314, -0.1662,
+ 0.072529, 0.90225, 0.39123, 1.5316e-08, -7.1609e-08, 4.9598e-09}},
+ {24540000,
+ {-448.7935, 480.9799, -3171.8489, -16.2325, 17.3097, -23.9602, -0.16272,
+ 0.070307, 0.90299, 0.39139, 1.7071e-08, -6.5784e-08, 1.0926e-08}},
+ {24560000,
+ {-449.1182, 481.3259, -3171.7786, -16.2325, 17.3072, -23.9132, -0.15974,
+ 0.068598, 0.90362, 0.39147, 1.9281e-08, -6.7309e-08, 1.2275e-08}},
+ {24580000,
+ {-449.4429, 481.672, -3171.4658, -16.2324, 17.3066, -23.8485, -0.15665,
+ 0.066582, 0.90431, 0.39148, 2.2468e-08, -6.763e-08, 1.5416e-08}},
+ {24600000,
+ {-449.7675, 482.0186, -3171.5498, -16.1924, 17.3304, -23.7104, -0.1533,
+ 0.064557, 0.90498, 0.39159, 2.4373e-08, -6.4706e-08, 1.9472e-08}},
+ {24620000,
+ {-450.0914, 482.3654, -3172.1228, -16.1912, 17.3375, -23.6258, -0.15007,
+ 0.062445, 0.90566, 0.39161, 2.7439e-08, -6.3651e-08, 2.3334e-08}},
+ {24640000,
+ {-450.4152, 482.7124, -3172.0024, -16.1912, 17.3395, -23.4907, -0.14692,
+ 0.061435, 0.90611, 0.39193, 2.5927e-08, -6.4074e-08, 2.148e-08}},
+ {24660000,
+ {-450.739, 483.0594, -3171.8953, -16.1912, 17.34, -23.3703, -0.14324,
+ 0.061896, 0.90621, 0.39298, 1.4707e-08, -5.7454e-08, 1.4751e-08}},
+ {24680000,
+ {-451.0628, 483.4065, -3172.2937, -16.1912, 17.3404, -23.3008, -0.14015,
+ 0.060501, 0.90672, 0.39314, 1.5431e-08, -5.94e-08, 1.417e-08}},
+ {24700000,
+ {-451.3866, 483.753, -3172.709, -16.187, 17.3103, -22.9822, -0.13635,
+ 0.058555, 0.90731, 0.39341, 1.5047e-08, -5.186e-08, 1.8764e-08}},
+ {24720000,
+ {-451.7103, 484.0991, -3172.5002, -16.1869, 17.3012, -22.6521, -0.13303,
+ 0.05702, 0.90782, 0.39359, 1.5394e-08, -5.1369e-08, 1.9426e-08}},
+ {24740000,
+ {-452.0341, 484.4451, -3172.1865, -16.1869, 17.2988, -22.3473, -0.13017,
+ 0.055453, 0.90835, 0.39356, 1.832e-08, -5.7331e-08, 1.8293e-08}},
+ {24760000,
+ {-452.3578, 484.7911, -3172.2891, -16.1869, 17.2981, -22.512, -0.12718,
+ 0.053746, 0.90889, 0.39352, 2.1365e-08, -6.1988e-08, 1.8131e-08}},
+ {24780000,
+ {-452.6815, 485.1371, -3172.8889, -16.1869, 17.2975, -22.715, -0.12371,
+ 0.052459, 0.90931, 0.39383, 1.9911e-08, -6.0305e-08, 1.7884e-08}},
+ {24800000,
+ {-453.005, 485.4832, -3172.8459, -16.1286, 17.3175, -22.7702, -0.12061,
+ 0.050396, 0.9099, 0.39369, 2.4276e-08, -6.399e-08, 1.9519e-08}},
+ {24820000,
+ {-453.3274, 485.8297, -3172.8501, -16.1268, 17.3235, -22.826, -0.11744,
+ 0.049491, 0.91024, 0.39397, 2.2525e-08, -6.7155e-08, 1.5951e-08}},
+ {24840000,
+ {-453.6498, 486.1762, -3173.2866, -16.1268, 17.3256, -22.9147, -0.11397,
+ 0.048067, 0.91066, 0.3942, 2.1946e-08, -6.641e-08, 1.5909e-08}},
+ {24860000,
+ {-453.9722, 486.5229, -3172.9253, -16.1267, 17.3259, -22.7111, -0.11047,
+ 0.046497, 0.9111, 0.39438, 2.2061e-08, -6.5608e-08, 1.6511e-08}},
+ {24880000,
+ {-454.2946, 486.8694, -3173.333, -16.1267, 17.3258, -22.5873, -0.10699,
+ 0.044956, 0.91152, 0.39455, 2.2185e-08, -6.5341e-08, 1.6785e-08}},
+ {24900000,
+ {-454.6173, 487.2156, -3173.4631, -16.1529, 17.28, -22.8327, -0.10342,
+ 0.042916, 0.91202, 0.39456, 2.4618e-08, -6.4219e-08, 1.9515e-08}},
+ {24920000,
+ {-454.9406, 487.5611, -3173.4451, -16.1537, 17.2673, -23.0587, -0.099864,
+ 0.040926, 0.91251, 0.39457, 2.688e-08, -6.3624e-08, 2.178e-08}},
+ {24940000,
+ {-455.2638, 487.9065, -3173.3499, -16.1537, 17.2636, -23.269, -0.096109,
+ 0.039706, 0.9128, 0.39494, 2.41e-08, -6.0551e-08, 2.1412e-08}},
+ {24960000,
+ {-455.5871, 488.2518, -3173.6519, -16.1537, 17.2623, -22.9394, -0.092846,
+ 0.038085, 0.91321, 0.39493, 2.6024e-08, -6.4634e-08, 2.047e-08}},
+ {24980000,
+ {-455.9104, 488.597, -3173.3877, -16.1537, 17.2625, -22.6055, -0.088816,
+ 0.037193, 0.91339, 0.39553, 2.0096e-08, -5.8366e-08, 1.961e-08}},
+ {25000000,
+ {-456.2333, 488.9426, -3173.2744, -16.1068, 17.2869, -22.4512, -0.08538,
+ 0.036076, 0.91366, 0.39577, 1.8522e-08, -6.0619e-08, 1.7014e-08}},
+ {25020000,
+ {-456.5553, 489.2885, -3173.4089, -16.1054, 17.2943, -22.3315, -0.082226,
+ 0.034648, 0.91401, 0.39576, 2.0098e-08, -6.707e-08, 1.4369e-08}},
+ {25040000,
+ {-456.8773, 489.6345, -3173.2891, -16.1053, 17.2962, -22.2019, -0.078294,
+ 0.033546, 0.9142, 0.3962, 1.5941e-08, -6.3128e-08, 1.3557e-08}},
+ {25060000,
+ {-457.1993, 489.9806, -3173.6213, -16.1053, 17.2964, -21.9954, -0.074319,
+ 0.031646, 0.91454, 0.39634, 1.6169e-08, -5.8975e-08, 1.6165e-08}},
+ {25080000,
+ {-457.5213, 490.3267, -3173.5659, -16.1054, 17.297, -21.777, -0.070285,
+ 0.02973, 0.91486, 0.39648, 1.6266e-08, -5.4359e-08, 1.8951e-08}},
+ {25100000,
+ {-457.8434, 490.6729, -3173.8748, -16.0588, 17.2899, -21.8327, -0.066374,
+ 0.028297, 0.91508, 0.39676, 1.4255e-08, -5.1648e-08, 1.9103e-08}},
+ {25120000,
+ {-458.1646, 491.019, -3174.2107, -16.0574, 17.2878, -21.8909, -0.062866,
+ 0.027381, 0.91523, 0.39706, 1.1323e-08, -5.4682e-08, 1.5269e-08}},
+ {25140000,
+ {-458.4857, 491.3651, -3174.3997, -16.0573, 17.2868, -21.9333, -0.059064,
+ 0.025995, 0.91542, 0.39729, 9.6404e-09, -5.4084e-08, 1.4461e-08}},
+ {25160000,
+ {-458.8069, 491.7112, -3174.8704, -16.0573, 17.2863, -21.8901, -0.055362,
+ 0.024449, 0.91565, 0.3974, 9.4876e-09, -5.5202e-08, 1.3716e-08}},
+ {25180000,
+ {-459.1281, 492.0573, -3174.572, -16.0573, 17.2865, -21.7883, -0.051756,
+ 0.022815, 0.91589, 0.39742, 1.0371e-08, -5.7919e-08, 1.2761e-08}},
+ {25200000,
+ {-459.4492, 492.403, -3175.0439, -16.1149, 17.2563, -21.7586, -0.04813,
+ 0.019985, 0.91636, 0.39695, 1.8483e-08, -6.0836e-08, 1.6453e-08}},
+ {25220000,
+ {-459.7713, 492.7481, -3175.7192, -16.1167, 17.2478, -21.7469, -0.044255,
+ 0.017852, 0.91664, 0.39685, 2.1295e-08, -6.0527e-08, 1.8422e-08}},
+ {25240000,
+ {-460.0936, 493.0933, -3175.8979, -16.1168, 17.2455, -21.6963, -0.040042,
+ 0.015148, 0.91697, 0.39666, 2.6096e-08, -5.5849e-08, 2.4106e-08}},
+ {25260000,
+ {-460.4158, 493.4384, -3176.4744, -16.1168, 17.2447, -21.6831, -0.036032,
+ 0.014444, 0.91692, 0.39719, 1.9336e-08, -5.4108e-08, 2.093e-08}},
+
+};
diff --git a/src/tests/catch/nas/data/complete/pitot.h b/src/tests/catch/nas/data/complete/pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..ea548efc90bec189fb467a67e3a2cba44cfc69d5
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/pitot.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PitotData complete_pitot[] = {
+ {
+ 20000,
+ 0,
+ },
+ {
+ 40000,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ },
+ {
+ 80000,
+ 0,
+ },
+ {
+ 100000,
+ 0,
+ },
+ {
+ 120000,
+ 0,
+ },
+ {
+ 140000,
+ 0,
+ },
+ {
+ 160000,
+ 6.4819,
+ },
+ {
+ 180000,
+ 6.4819,
+ },
+ {
+ 200000,
+ 0,
+ },
+ {
+ 220000,
+ 0,
+ },
+ {
+ 240000,
+ 0,
+ },
+ {
+ 259999,
+ 6.4819,
+ },
+ {
+ 280000,
+ 6.4819,
+ },
+ {
+ 300000,
+ 11.2259,
+ },
+ {
+ 320000,
+ 11.2259,
+ },
+ {
+ 340000,
+ 11.2259,
+ },
+ {
+ 360000,
+ 12.9636,
+ },
+ {
+ 380000,
+ 12.9636,
+ },
+ {
+ 400000,
+ 17.1491,
+ },
+ {
+ 420000,
+ 17.1491,
+ },
+ {
+ 440000,
+ 17.1491,
+ },
+ {
+ 460000,
+ 19.4435,
+ },
+ {
+ 480000,
+ 19.4435,
+ },
+ {
+ 500000,
+ 20.4917,
+ },
+ {
+ 519999,
+ 20.4917,
+ },
+ {
+ 540000,
+ 20.4917,
+ },
+ {
+ 560000,
+ 25.0947,
+ },
+ {
+ 580000,
+ 25.0947,
+ },
+ {
+ 600000,
+ 25.0947,
+ },
+ {
+ 620000,
+ 25.0947,
+ },
+ {
+ 640000,
+ 25.0947,
+ },
+ {
+ 660000,
+ 30.3854,
+ },
+ {
+ 680000,
+ 30.3854,
+ },
+ {
+ 700000,
+ 31.0629,
+ },
+ {
+ 720000,
+ 31.0629,
+ },
+ {
+ 740000,
+ 31.0629,
+ },
+ {
+ 760000,
+ 35.4786,
+ },
+ {
+ 780000,
+ 35.4786,
+ },
+ {
+ 800000,
+ 37.21,
+ },
+ {
+ 820000,
+ 37.21,
+ },
+ {
+ 840000,
+ 37.21,
+ },
+ {
+ 860000,
+ 40.9591,
+ },
+ {
+ 880000,
+ 40.9591,
+ },
+ {
+ 900000,
+ 42.467,
+ },
+ {
+ 920000,
+ 42.467,
+ },
+ {
+ 940000,
+ 42.467,
+ },
+ {
+ 960000,
+ 43.9119,
+ },
+ {
+ 980000,
+ 43.9119,
+ },
+ {
+ 1000000,
+ 48.0146,
+ },
+ {
+ 1020000,
+ 48.0146,
+ },
+ {
+ 1039999,
+ 48.0146,
+ },
+ {
+ 1060000,
+ 49.7211,
+ },
+ {
+ 1080000,
+ 49.7211,
+ },
+ {
+ 1100000,
+ 54.1519,
+ },
+ {
+ 1120000,
+ 54.1519,
+ },
+ {
+ 1140000,
+ 54.1519,
+ },
+ {
+ 1160000,
+ 54.528,
+ },
+ {
+ 1180000,
+ 54.528,
+ },
+ {
+ 1200000,
+ 58.5933,
+ },
+ {
+ 1220000,
+ 58.5933,
+ },
+ {
+ 1240000,
+ 58.5933,
+ },
+ {
+ 1260000,
+ 60.3474,
+ },
+ {
+ 1280000,
+ 60.3474,
+ },
+ {
+ 1300000,
+ 63.6928,
+ },
+ {
+ 1320000,
+ 63.6928,
+ },
+ {
+ 1340000,
+ 63.6928,
+ },
+ {
+ 1360000,
+ 66.8825,
+ },
+ {
+ 1380000,
+ 66.8825,
+ },
+ {
+ 1400000,
+ 68.7311,
+ },
+ {
+ 1420000,
+ 68.7311,
+ },
+ {
+ 1440000,
+ 68.7311,
+ },
+ {
+ 1460000,
+ 72.5625,
+ },
+ {
+ 1480000,
+ 72.5625,
+ },
+ {
+ 1500000,
+ 74.5183,
+ },
+ {
+ 1520000,
+ 74.5183,
+ },
+ {
+ 1540000,
+ 74.5183,
+ },
+ {
+ 1560000,
+ 77.8053,
+ },
+ {
+ 1580000,
+ 77.8053,
+ },
+ {
+ 1600000,
+ 80.6734,
+ },
+ {
+ 1620000,
+ 80.6734,
+ },
+ {
+ 1640000,
+ 80.6734,
+ },
+ {
+ 1660000,
+ 83.9298,
+ },
+ {
+ 1680000,
+ 83.9298,
+ },
+ {
+ 1700000,
+ 86.6089,
+ },
+ {
+ 1720000,
+ 86.6089,
+ },
+ {
+ 1740000,
+ 86.6089,
+ },
+ {
+ 1760000,
+ 88.9653,
+ },
+ {
+ 1780000,
+ 88.9653,
+ },
+ {
+ 1800000,
+ 92.5937,
+ },
+ {
+ 1820000,
+ 92.5937,
+ },
+ {
+ 1840000,
+ 92.5937,
+ },
+ {
+ 1860000,
+ 94.5692,
+ },
+ {
+ 1880000,
+ 94.5692,
+ },
+ {
+ 1900000,
+ 98.4202,
+ },
+ {
+ 1920000,
+ 98.4202,
+ },
+ {
+ 1940000,
+ 98.4202,
+ },
+ {
+ 1960000,
+ 100.8952,
+ },
+ {
+ 1980000,
+ 100.8952,
+ },
+ {
+ 2000000,
+ 104.2989,
+ },
+ {
+ 2020000,
+ 104.2989,
+ },
+ {
+ 2040000,
+ 104.2989,
+ },
+ {
+ 2060000,
+ 107.2133,
+ },
+ {
+ 2079999,
+ 107.2133,
+ },
+ {
+ 2100000,
+ 109.85,
+ },
+ {
+ 2120000,
+ 109.85,
+ },
+ {
+ 2140000,
+ 109.85,
+ },
+ {
+ 2160000,
+ 112.5865,
+ },
+ {
+ 2180000,
+ 112.5865,
+ },
+ {
+ 2200000,
+ 115.6301,
+ },
+ {
+ 2220000,
+ 115.6301,
+ },
+ {
+ 2240000,
+ 115.6301,
+ },
+ {
+ 2260000,
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diff --git a/src/tests/catch/nas/data/complete/steps.h b/src/tests/catch/nas/data/complete/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..e2f3b32b2997194c5cc34d2a1e688e350553de8b
--- /dev/null
+++ b/src/tests/catch/nas/data/complete/steps.h
@@ -0,0 +1,12151 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASPredictionSteps complete_steps[]{
+ {
+ 0, 0, -160, -0.0071732, 0.008816,
+ 0.081894, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 7.047e-05, -8.6572e-05,
+ -160, -0.00011759, 0.00014453, 0.081894, 7.047e-05,
+ -8.6572e-05, -159.9978, -0.00011759, 0.00014453, 0.081894,
+ -0.61367, 0.26679, 0.68147, 0.29636, -1.2556e-09,
+ -6.4969e-09, 1.1794e-08, 7.047e-05, -8.6572e-05, -159.9978,
+ -0.00011759, 0.00014453, 0.081894,
+ },
+ {
+ 6.8118e-05, -8.3682e-05, -159.9962, -0.014448, 0.016253,
+ 0.063717, -0.61367, 0.26679, 0.68147, 0.29637,
+ -1.2556e-09, -6.4969e-09, 1.1794e-08, 8.1416e-05, -9.8627e-05,
+ -159.9962, -0.00045173, 0.00050815, 0.063717, 8.1416e-05,
+ -9.8627e-05, -159.9747, -0.00045173, 0.00050815, 0.063826,
+ -0.61372, 0.26678, 0.68142, 0.29637, -1.2261e-09,
+ -6.6131e-09, 1.187e-08, 8.1416e-05, -9.8627e-05, -159.9747,
+ -0.00045173, 0.00050815, 0.063826,
+ },
+ {
+ 7.2381e-05, -8.8464e-05, -159.9734, -0.023456, 0.02569,
+ -0.054947, -0.61372, 0.26678, 0.68142, 0.29637,
+ -1.2261e-09, -6.6131e-09, 1.187e-08, 8.723e-05, -0.00010471,
+ -159.9734, -0.00073371, 0.00080361, -0.054947, 8.723e-05,
+ -0.00010471, -159.9962, -0.00073371, 0.00080361, -0.055177,
+ -0.61378, 0.26672, 0.68135, 0.29647, -3.4803e-09,
+ -9.597e-09, 2.1622e-08, 8.723e-05, -0.00010471, -159.9962,
+ -0.00073371, 0.00080361, -0.055177,
+ },
+ {
+ 7.2556e-05, -8.8638e-05, -159.9973, -0.029862, 0.034164,
+ -0.2748, -0.61378, 0.26672, 0.68135, 0.29648,
+ -3.4803e-09, -9.597e-09, 2.1622e-08, 9.1177e-05, -0.00010991,
+ -159.9973, -0.00093411, 0.0010687, -0.2748, 9.1177e-05,
+ -0.00010991, -159.9981, -0.00093411, 0.0010687, -0.27481,
+ -0.61379, 0.26668, 0.68131, 0.29659, -3.6913e-09,
+ -9.5299e-09, 2.2079e-08, 9.1177e-05, -0.00010991, -159.9981,
+ -0.00093411, 0.0010687, -0.27481,
+ },
+ {
+ 7.2495e-05, -8.854e-05, -160.0036, -0.03699, 0.041691,
+ -0.59548, -0.61379, 0.26668, 0.68131, 0.2966,
+ -3.6913e-09, -9.5299e-09, 2.2079e-08, 5.1401e-05, -9.9406e-05,
+ -160.0036, -0.014583, 0.048454, -0.59548, 5.1401e-05,
+ -9.9406e-05, -159.999, -0.014583, 0.048454, -0.59539,
+ -0.61359, 0.26664, 0.68137, 0.29689, -1.1712e-08,
+ 1.4345e-09, 2.8365e-08, 5.1401e-05, -9.9406e-05, -159.999,
+ -0.014583, 0.048454, -0.59539,
+ },
+ {
+ -0.00024026, 0.00086968, -160.0109, -0.058529, 0.097366,
+ -1.0175, -0.61359, 0.26664, 0.68137, 0.29689,
+ -1.1712e-08, 1.4345e-09, 2.8365e-08, -0.00025427, 0.00082155,
+ -160.0109, -0.015257, 0.050196, -1.0175, -0.00025427,
+ 0.00082155, -159.9638, -0.015257, 0.050196, -1.0163,
+ -0.61362, 0.26668, 0.6814, 0.29674, -1.1282e-08,
+ 1.1269e-09, 2.7658e-08, -0.00025427, 0.00082155, -159.9638,
+ -0.015257, 0.050196, -1.0163,
+ },
+ {
+ -0.00055941, 0.0018255, -159.9842, -0.066295, 0.10618,
+ -1.5404, -0.61362, 0.26668, 0.6814, 0.29674,
+ -1.1282e-08, 1.1269e-09, 2.7658e-08, -0.00055941, 0.0018255,
+ -159.9842, -0.066295, 0.10618, -1.5404, -0.00055941,
+ 0.0018255, -160.0134, -0.066295, 0.10618, -1.5413,
+ -0.61359, 0.26678, 0.6815, 0.29646, -7.4285e-09,
+ 4.1211e-10, 1.8626e-08, -0.00055941, 0.0018255, -160.0134,
+ -0.066295, 0.10618, -1.5413,
+ },
+ {
+ -0.0018853, 0.0039491, -160.0442, -0.12639, 0.17003, -2.1664,
+ -0.61359, 0.26678, 0.6815, 0.29646, -7.4285e-09, 4.1211e-10,
+ 1.8626e-08, -0.0018853, 0.0039491, -160.0442, -0.12639, 0.17003,
+ -2.1664, -0.0018853, 0.0039491, -159.9897, -0.12639, 0.17003,
+ -2.1644, -0.61363, 0.26667, 0.68138, 0.29675, -8.3336e-09,
+ 4.4713e-10, 2.0921e-08, -0.0018853, 0.0039491, -159.9897, -0.12639,
+ 0.17003, -2.2786,
+ },
+ {
+ -0.0044132, 0.0073497, -160.0352, -0.19295, 0.24085, -3.0048,
+ -0.61363, 0.26667, 0.68138, 0.29676, -8.3336e-09, 4.4713e-10,
+ 2.0921e-08, -0.0044132, 0.0073497, -160.0352, -0.19295, 0.24085,
+ -3.0048, -0.0044132, 0.0073497, -159.9786, -0.19295, 0.24085,
+ -3.0025, -0.61352, 0.26662, 0.68139, 0.29701, -1.2058e-08,
+ 4.544e-09, 2.5154e-08, -0.0044132, 0.0073497, -159.9786, -0.19295,
+ 0.24085, -3.1432,
+ },
+ {
+ -0.0082723, 0.012167, -160.0414, -0.26608, 0.32006, -3.9725,
+ -0.61352, 0.26662, 0.68139, 0.29701, -1.2058e-08, 4.544e-09,
+ 2.5154e-08, -0.0082723, 0.012167, -160.0414, -0.26608, 0.32006,
+ -3.9725, -0.0082723, 0.012167, -160.0622, -0.26608, 0.32006,
+ -3.9735, -0.61346, 0.26674, 0.68153, 0.29671, -1.1005e-08,
+ 4.6331e-09, 2.2313e-08, -0.0082723, 0.012167, -160.0622, -0.26608,
+ 0.32006, -3.9735,
+ },
+ {
+ -0.013594, 0.018568, -160.1416, -0.34647, 0.40739, -4.9039,
+ -0.61346, 0.26674, 0.68153, 0.29671, -1.1005e-08, 4.6331e-09,
+ 2.2313e-08, -0.013594, 0.018568, -160.1416, -0.34647, 0.40739,
+ -4.9039, -0.013594, 0.018568, -160.1723, -0.34647, 0.40739,
+ -4.9054, -0.61331, 0.2667, 0.68157, 0.29695, -1.4349e-08,
+ 9.0438e-09, 2.5159e-08, -0.013594, 0.018568, -160.1723, -0.34647,
+ 0.40739, -4.9054,
+ },
+ {
+ -0.020523, 0.026716, -160.2704, -0.43452, 0.50365, -5.9386,
+ -0.61331, 0.2667, 0.68157, 0.29695, -1.4349e-08, 9.0438e-09,
+ 2.5159e-08, -0.020523, 0.026716, -160.2704, -0.43452, 0.50365,
+ -5.9386, -0.020523, 0.026716, -160.237, -0.43452, 0.50365,
+ -5.9368, -0.61342, 0.26681, 0.68161, 0.29655, -1.2227e-08,
+ 7.2653e-09, 2.2012e-08, -0.020523, 0.026716, -160.237, -0.43452,
+ 0.50365, -5.9368,
+ },
+ {
+ -0.029213, 0.036789, -160.3557, -0.52979, 0.60594, -7.0719,
+ -0.61342, 0.26681, 0.68161, 0.29655, -1.2227e-08, 7.2653e-09,
+ 2.2012e-08, -0.029213, 0.036789, -160.3557, -0.52979, 0.60594,
+ -7.0719, -0.029213, 0.036789, -160.4886, -0.52979, 0.60594,
+ -7.0798, -0.61344, 0.26686, 0.68165, 0.29637, -1.0544e-08,
+ 6.1825e-09, 1.9077e-08, -0.029213, 0.036789, -160.4886, -0.52979,
+ 0.60594, -7.0028,
+ },
+ {
+ -0.039809, 0.048908, -160.6287, -0.63228, 0.71703, -8.2387,
+ -0.61344, 0.26686, 0.68164, 0.29637, -1.0544e-08, 6.1825e-09,
+ 1.9077e-08, -0.039809, 0.048908, -160.6287, -0.63228, 0.71703,
+ -8.2387, -0.039809, 0.048908, -160.6021, -0.63228, 0.71703,
+ -8.2371, -0.61341, 0.26691, 0.68171, 0.29622, -9.8842e-09,
+ 6.2192e-09, 1.7319e-08, -0.039809, 0.048908, -160.6021, -0.63228,
+ 0.71703, -8.0065,
+ },
+ {
+ -0.052455, 0.063248, -160.7622, -0.73621, 0.827, -9.2475,
+ -0.61341, 0.26691, 0.68171, 0.29622, -9.8842e-09, 6.2192e-09,
+ 1.7319e-08, -0.052455, 0.063248, -160.7622, -0.73621, 0.827,
+ -9.2475, -0.052455, 0.063248, -160.7889, -0.73621, 0.827,
+ -9.2493, -0.61356, 0.26679, 0.68152, 0.29647, -1.1229e-08,
+ 4.145e-09, 2.353e-08, -0.052455, 0.063248, -160.7889, -0.73621,
+ 0.827, -9.4126,
+ },
+ {
+ -0.067179, 0.079788, -160.9772, -0.83933, 0.93742, -10.6401,
+ -0.61356, 0.26679, 0.68152, 0.29648, -1.1229e-08, 4.145e-09,
+ 2.353e-08, -0.067179, 0.079788, -160.9772, -0.83933, 0.93742,
+ -10.6401, -0.067179, 0.079788, -161.0578, -0.83933, 0.93742,
+ -10.6456, -0.61326, 0.26702, 0.68189, 0.29605, -9.9642e-09,
+ 7.0633e-09, 1.6409e-08, -0.067179, 0.079788, -161.0578, -0.83933,
+ 0.93742, -10.6962,
+ },
+ {
+ -0.083966, 0.098537, -161.2717, -0.94312, 1.0457, -11.9108,
+ -0.61326, 0.26702, 0.68189, 0.29605, -9.9642e-09, 7.0633e-09,
+ 1.6409e-08, -0.083966, 0.098537, -161.2717, -0.94312, 1.0457,
+ -11.9108, -0.083966, 0.098537, -161.2276, -0.94312, 1.0457,
+ -11.9077, -0.61319, 0.26707, 0.68197, 0.29594, -9.4386e-09,
+ 7.9377e-09, 1.3896e-08, -0.083966, 0.098537, -161.2276, -0.94312,
+ 1.0457, -11.8287,
+ },
+ {
+ -0.10283, 0.11945, -161.4642, -1.0452, 1.1524, -13.0307,
+ -0.61319, 0.26707, 0.68197, 0.29595, -9.4386e-09, 7.9377e-09,
+ 1.3896e-08, -0.10283, 0.11945, -161.4642, -1.0452, 1.1524,
+ -13.0307, -0.10283, 0.11945, -161.4967, -1.0452, 1.1524,
+ -13.0331, -0.6128, 0.26712, 0.68221, 0.29616, -1.1979e-08,
+ 1.3475e-08, 1.3185e-08, -0.10283, 0.11945, -161.4967, -1.0452,
+ 1.1524, -13.0191,
+ },
+ {
+ -0.12373, 0.1425, -161.757, -1.1477, 1.258, -14.2084,
+ -0.6128, 0.26712, 0.68222, 0.29616, -1.1979e-08, 1.3475e-08,
+ 1.3185e-08, -0.12373, 0.1425, -161.757, -1.1477, 1.258,
+ -14.2084, -0.12373, 0.1425, -161.7154, -1.1477, 1.258,
+ -14.2054, -0.61295, 0.26701, 0.68204, 0.29633, -1.26e-08,
+ 1.1362e-08, 1.7594e-08, -0.12373, 0.1425, -161.7154, -1.1477,
+ 1.258, -14.0666,
+ },
+ {
+ -0.14669, 0.16766, -161.9968, -1.2476, 1.3653, -15.2448,
+ -0.61295, 0.26701, 0.68204, 0.29633, -1.26e-08, 1.1362e-08,
+ 1.7594e-08, -0.14669, 0.16766, -161.9968, -1.2476, 1.3653,
+ -15.2448, -0.14669, 0.16766, -161.9146, -1.2476, 1.3653,
+ -15.2387, -0.61297, 0.26688, 0.68191, 0.29671, -1.4747e-08,
+ 1.1945e-08, 2.2398e-08, -0.14669, 0.16766, -161.9146, -1.2476,
+ 1.3653, -15.3972,
+ },
+ {
+ -0.17164, 0.19496, -162.2226, -1.3475, 1.4717, -16.5641,
+ -0.61297, 0.26688, 0.68191, 0.29671, -1.4747e-08, 1.1945e-08,
+ 2.2398e-08, -0.17164, 0.19496, -162.2226, -1.3475, 1.4717,
+ -16.5641, -0.17164, 0.19496, -162.0884, -1.3475, 1.4717,
+ -16.5541, -0.61269, 0.26682, 0.682, 0.29714, -1.9095e-08,
+ 1.7815e-08, 2.5945e-08, -0.17164, 0.19496, -162.0884, -1.3475,
+ 1.4717, -16.6016,
+ },
+ {
+ -0.19859, 0.2244, -162.4205, -1.4476, 1.5785, -17.7577,
+ -0.61269, 0.26682, 0.682, 0.29714, -1.9095e-08, 1.7815e-08,
+ 2.5945e-08, -0.19859, 0.2244, -162.4205, -1.4476, 1.5785,
+ -17.7577, -0.19859, 0.2244, -162.5268, -1.4476, 1.5785,
+ -17.7658, -0.61297, 0.26674, 0.68178, 0.29714, -1.8066e-08,
+ 1.3921e-08, 2.8409e-08, -0.19859, 0.2244, -162.5268, -1.4476,
+ 1.5785, -17.6944,
+ },
+ {
+ -0.22754, 0.25597, -162.8807, -1.5445, 1.6849, -18.8415,
+ -0.61297, 0.26674, 0.68178, 0.29714, -1.8066e-08, 1.3921e-08,
+ 2.8409e-08, -0.22754, 0.25597, -162.8807, -1.5445, 1.6849,
+ -18.8415, -0.22754, 0.25597, -162.9448, -1.5445, 1.6849,
+ -18.8464, -0.6133, 0.26676, 0.68163, 0.29679, -1.4142e-08,
+ 7.573e-09, 2.6631e-08, -0.22754, 0.25597, -162.9448, -1.5445,
+ 1.6849, -18.8926,
+ },
+ {
+ -0.25843, 0.28967, -163.3227, -1.6418, 1.7887, -20.0302,
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+ 1.5951e-08, -453.6498, 486.1762, -3173.3066, -16.1268, 17.3256,
+ -22.6349, -453.6498, 486.1762, -3173.2866, -16.1268, 17.3256,
+ -22.6332, -0.11397, 0.048067, 0.91066, 0.3942, 2.1946e-08,
+ -6.641e-08, 1.5909e-08, -453.6498, 486.1762, -3173.2866, -16.1268,
+ 17.3256, -22.9147,
+ },
+ {
+ -453.9724, 486.5228, -3173.7449, -16.1228, 17.3221, -22.7235,
+ -0.11053, 0.046576, 0.91109, 0.39438, 2.1946e-08, -6.641e-08,
+ 1.5909e-08, -453.9722, 486.5229, -3173.7449, -16.1267, 17.3259,
+ -22.7235, -453.9722, 486.5229, -3172.9253, -16.1267, 17.3259,
+ -22.6512, -0.11047, 0.046497, 0.9111, 0.39438, 2.2061e-08,
+ -6.5608e-08, 1.6511e-08, -453.9722, 486.5229, -3172.9253, -16.1267,
+ 17.3259, -22.7111,
+ },
+ {
+ -454.2947, 486.8694, -3173.3794, -16.1231, 17.3218,
+ -22.519, -0.10701, 0.044999, 0.91151, 0.39455,
+ 2.2061e-08, -6.5608e-08, 1.6511e-08, -454.2946, 486.8694,
+ -3173.3794, -16.1267, 17.3258, -22.519, -454.2946,
+ 486.8694, -3173.333, -16.1267, 17.3258, -22.5149,
+ -0.10699, 0.044956, 0.91152, 0.39455, 2.2185e-08,
+ -6.5341e-08, 1.6785e-08, -454.2946, 486.8694, -3173.333,
+ -16.1267, 17.3258, -22.5873,
+ },
+ {
+ -454.6171, 487.216, -3173.7847, -16.1234, 17.3207,
+ -22.3961, -0.1035, 0.043447, 0.91192, 0.39472,
+ 2.2185e-08, -6.5341e-08, 1.6785e-08, -454.6173, 487.2156,
+ -3173.7847, -16.1529, 17.28, -22.3961, -454.6173,
+ 487.2156, -3173.4631, -16.1529, 17.28, -22.3677,
+ -0.10342, 0.042916, 0.91202, 0.39456, 2.4618e-08,
+ -6.4219e-08, 1.9515e-08, -454.6173, 487.2156, -3173.4631,
+ -16.1529, 17.28, -22.8327,
+ },
+ {
+ -454.9404, 487.5612, -3173.9197, -16.149, 17.2767, -22.6421,
+ -0.099911, 0.041396, 0.91241, 0.39472, 2.4618e-08, -6.4219e-08,
+ 1.9515e-08, -454.9406, 487.5611, -3173.9197, -16.1537, 17.2673,
+ -22.6421, -454.9406, 487.5611, -3173.4451, -16.1537, 17.2673,
+ -22.6002, -0.099864, 0.040926, 0.91251, 0.39457, 2.688e-08,
+ -6.3624e-08, 2.178e-08, -454.9406, 487.5611, -3173.4451, -16.1537,
+ 17.2673, -23.0587,
+ },
+ {
+ -455.2636, 487.9065, -3173.9062, -16.1501, 17.2642,
+ -22.8679, -0.096329, 0.039399, 0.91289, 0.39473,
+ 2.688e-08, -6.3624e-08, 2.178e-08, -455.2638, 487.9065,
+ -3173.9062, -16.1537, 17.2636, -22.8679, -455.2638,
+ 487.9065, -3173.3499, -16.1537, 17.2636, -22.8187,
+ -0.096109, 0.039706, 0.9128, 0.39494, 2.41e-08,
+ -6.0551e-08, 2.1412e-08, -455.2638, 487.9065, -3173.3499,
+ -16.1537, 17.2636, -23.269,
+ },
+ {
+ -455.5869, 488.2517, -3173.8152, -16.1511, 17.2598, -23.0783,
+ -0.092552, 0.038169, 0.91317, 0.39509, 2.41e-08, -6.0551e-08,
+ 2.1412e-08, -455.5871, 488.2518, -3173.8152, -16.1537, 17.2623,
+ -23.0783, -455.5871, 488.2518, -3173.6519, -16.1537, 17.2623,
+ -23.0639, -0.092846, 0.038085, 0.91321, 0.39493, 2.6024e-08,
+ -6.4634e-08, 2.047e-08, -455.5871, 488.2518, -3173.6519, -16.1537,
+ 17.2623, -22.9394,
+ },
+ {
+ -455.9102, 488.597, -3174.1106, -16.1516, 17.2602, -22.7494,
+ -0.089266, 0.036535, 0.91357, 0.39508, 2.6024e-08, -6.4634e-08,
+ 2.047e-08, -455.9104, 488.597, -3174.1106, -16.1537, 17.2625,
+ -22.7494, -455.9104, 488.597, -3173.3877, -16.1537, 17.2625,
+ -22.6852, -0.088816, 0.037193, 0.91339, 0.39553, 2.0096e-08,
+ -5.8366e-08, 1.961e-08, -455.9104, 488.597, -3173.3877, -16.1537,
+ 17.2625, -22.6055,
+ },
+ {
+ -456.2335, 488.9423, -3173.8398, -16.1498, 17.2594,
+ -22.4148, -0.085212, 0.035633, 0.91374, 0.39567,
+ 2.0096e-08, -5.8366e-08, 1.961e-08, -456.2333, 488.9426,
+ -3173.8398, -16.1068, 17.2869, -22.4148, -456.2333,
+ 488.9426, -3173.2744, -16.1068, 17.2869, -22.3645,
+ -0.08538, 0.036076, 0.91366, 0.39577, 1.8522e-08,
+ -6.0619e-08, 1.7014e-08, -456.2333, 488.9426, -3173.2744,
+ -16.1068, 17.2869, -22.4512,
+ },
+ {
+ -456.5555, 489.2883, -3173.7234, -16.1044, 17.2846, -22.2609,
+ -0.081756, 0.034503, 0.91399, 0.39591, 1.8522e-08, -6.0619e-08,
+ 1.7014e-08, -456.5553, 489.2885, -3173.7234, -16.1054, 17.2943,
+ -22.2609, -456.5553, 489.2885, -3173.4089, -16.1054, 17.2943,
+ -22.233, -0.082226, 0.034648, 0.91401, 0.39576, 2.0098e-08,
+ -6.707e-08, 1.4369e-08, -456.5553, 489.2885, -3173.4089, -16.1054,
+ 17.2943, -22.3315,
+ },
+ {
+ -456.8774, 489.6344, -3173.8555, -16.1026, 17.2914, -22.141,
+ -0.078577, 0.033066, 0.91433, 0.3959, 2.0098e-08, -6.707e-08,
+ 1.4369e-08, -456.8773, 489.6345, -3173.8555, -16.1053, 17.2962,
+ -22.141, -456.8773, 489.6345, -3173.2891, -16.1053, 17.2962,
+ -22.0907, -0.078294, 0.033546, 0.9142, 0.3962, 1.5941e-08,
+ -6.3128e-08, 1.3557e-08, -456.8773, 489.6345, -3173.2891, -16.1053,
+ 17.2962, -22.2019,
+ },
+ {
+ -457.1994, 489.9804, -3173.7332, -16.1027, 17.2918,
+ -22.013, -0.074623, 0.031954, 0.91451, 0.39633,
+ 1.5941e-08, -6.3128e-08, 1.3557e-08, -457.1993, 489.9806,
+ -3173.7332, -16.1053, 17.2964, -22.013, -457.1993,
+ 489.9806, -3173.6213, -16.1053, 17.2964, -22.0031,
+ -0.074319, 0.031646, 0.91454, 0.39634, 1.6169e-08,
+ -5.8975e-08, 1.6165e-08, -457.1993, 489.9806, -3173.6213,
+ -16.1053, 17.2964, -21.9954,
+ },
+ {
+ -457.5214, 490.3265, -3174.0613, -16.103, 17.294,
+ -21.8048, -0.070624, 0.030045, 0.91484, 0.39646,
+ 1.6169e-08, -5.8975e-08, 1.6165e-08, -457.5213, 490.3267,
+ -3174.0613, -16.1054, 17.297, -21.8048, -457.5213,
+ 490.3267, -3173.5659, -16.1054, 17.297, -21.7609,
+ -0.070285, 0.02973, 0.91486, 0.39648, 1.6266e-08,
+ -5.4359e-08, 1.8951e-08, -457.5213, 490.3267, -3173.5659,
+ -16.1054, 17.297, -21.777,
+ },
+ {
+ -457.8434, 490.6726, -3174.0015, -16.1029, 17.295,
+ -21.5859, -0.06657, 0.028119, 0.91514, 0.3966,
+ 1.6266e-08, -5.4359e-08, 1.8951e-08, -457.8434, 490.6729,
+ -3174.0015, -16.0588, 17.2899, -21.5859, -457.8434,
+ 490.6729, -3173.8748, -16.0588, 17.2899, -21.5746,
+ -0.066374, 0.028297, 0.91508, 0.39676, 1.4255e-08,
+ -5.1648e-08, 1.9103e-08, -457.8434, 490.6729, -3173.8748,
+ -16.0588, 17.2899, -21.8327,
+ },
+ {
+ -458.1646, 491.0187, -3174.3115, -16.0563, 17.2878,
+ -21.6433, -0.062637, 0.026677, 0.91535, 0.39687,
+ 1.4255e-08, -5.1648e-08, 1.9103e-08, -458.1646, 491.019,
+ -3174.3115, -16.0574, 17.2878, -21.6433, -458.1646,
+ 491.019, -3174.2107, -16.0574, 17.2878, -21.6344,
+ -0.062866, 0.027381, 0.91523, 0.39706, 1.1323e-08,
+ -5.4682e-08, 1.5269e-08, -458.1646, 491.019, -3174.2107,
+ -16.0574, 17.2878, -21.8909,
+ },
+ {
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+ -21.6997, -0.059106, 0.025748, 0.91548, 0.39717,
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+ -3174.6484, -16.0573, 17.2868, -21.6997, -458.4857,
+ 491.3651, -3174.3997, -16.0573, 17.2868, -21.6777,
+ -0.059064, 0.025995, 0.91542, 0.39729, 9.6404e-09,
+ -5.4084e-08, 1.4461e-08, -458.4857, 491.3651, -3174.3997,
+ -16.0573, 17.2868, -21.9333,
+ },
+ {
+ -458.8069, 491.7108, -3174.8384, -16.0543, 17.2826,
+ -21.7433, -0.055279, 0.024354, 0.91566, 0.39739,
+ 9.6404e-09, -5.4084e-08, 1.4461e-08, -458.8069, 491.7112,
+ -3174.8384, -16.0573, 17.2863, -21.7433, -458.8069,
+ 491.7112, -3174.8704, -16.0573, 17.2863, -21.7461,
+ -0.055362, 0.024449, 0.91565, 0.3974, 9.4876e-09,
+ -5.5202e-08, 1.3716e-08, -458.8069, 491.7112, -3174.8704,
+ -16.0573, 17.2863, -21.8901,
+ },
+ {
+ -459.128, 492.0569, -3175.3081, -16.0553, 17.2831,
+ -21.6998, -0.051558, 0.022798, 0.91587, 0.39749,
+ 9.4876e-09, -5.5202e-08, 1.3716e-08, -459.1281, 492.0573,
+ -3175.3081, -16.0573, 17.2865, -21.6998, -459.1281,
+ 492.0573, -3174.572, -16.0573, 17.2865, -21.6344,
+ -0.051756, 0.022815, 0.91589, 0.39742, 1.0371e-08,
+ -5.7919e-08, 1.2761e-08, -459.1281, 492.0573, -3174.572,
+ -16.0573, 17.2865, -21.7883,
+ },
+ {
+ -459.4492, 492.403, -3175.0078, -16.0547, 17.2827,
+ -21.5987, -0.047927, 0.021154, 0.9161, 0.39751,
+ 1.0371e-08, -5.7919e-08, 1.2761e-08, -459.4492, 492.403,
+ -3175.0078, -16.1149, 17.2563, -21.5987, -459.4492,
+ 492.403, -3175.0439, -16.1149, 17.2563, -21.6019,
+ -0.04813, 0.019985, 0.91636, 0.39695, 1.8483e-08,
+ -6.0836e-08, 1.6453e-08, -459.4492, 492.403, -3175.0439,
+ -16.1149, 17.2563, -21.7586,
+ },
+ {
+ -459.7714, 492.748, -3175.479, -16.1122, 17.2536, -21.5677,
+ -0.044279, 0.018319, 0.91655, 0.39703, 1.8483e-08, -6.0836e-08,
+ 1.6453e-08, -459.7713, 492.7481, -3175.479, -16.1167, 17.2478,
+ -21.5677, -459.7713, 492.7481, -3175.7192, -16.1167, 17.2478,
+ -21.589, -0.044255, 0.017852, 0.91664, 0.39685, 2.1295e-08,
+ -6.0527e-08, 1.8422e-08, -459.7713, 492.7481, -3175.7192, -16.1167,
+ 17.2478, -21.7469,
+ },
+ {
+ -460.0937, 493.0931, -3176.1543, -16.1144, 17.2456,
+ -21.5563, -0.040385, 0.016178, 0.91682, 0.39692,
+ 2.1295e-08, -6.0527e-08, 1.8422e-08, -460.0936, 493.0933,
+ -3176.1543, -16.1168, 17.2455, -21.5563, -460.0936,
+ 493.0933, -3175.8979, -16.1168, 17.2455, -21.5335,
+ -0.040042, 0.015148, 0.91697, 0.39666, 2.6096e-08,
+ -5.5849e-08, 2.4106e-08, -460.0936, 493.0933, -3175.8979,
+ -16.1168, 17.2455, -21.6963,
+ },
+ {
+ -460.4159, 493.4382, -3176.3318, -16.1153, 17.2428, -21.5063,
+ -0.036151, 0.013463, 0.91713, 0.39672, 2.6096e-08, -5.5849e-08,
+ 2.4106e-08, -460.4158, 493.4384, -3176.3318, -16.1168, 17.2447,
+ -21.5063, -460.4158, 493.4384, -3176.4744, -16.1168, 17.2447,
+ -21.5189, -0.036032, 0.014444, 0.91692, 0.39719, 1.9336e-08,
+ -5.4108e-08, 2.093e-08, -460.4158, 493.4384, -3176.4744, -16.1168,
+ 17.2447, -21.6831,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gps.h b/src/tests/catch/nas/data/gps.h
deleted file mode 100644
index 74abccb3a832c8fc85a288313656ff87f55bfc80..0000000000000000000000000000000000000000
--- a/src/tests/catch/nas/data/gps.h
+++ /dev/null
@@ -1,18024 +0,0 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Davide Basso
- *
- * 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.
- */
-
-/* This file was automatically generated, do not edit manually! */
-
-#include <algorithms/NAS/NASConfig.h>
-#include <algorithms/NAS/NASState.h>
-#include <sensors/SensorData.h>
-#include <sensors/analog/Pitot/PitotData.h>
-
-using namespace Boardcore;
-
-GPSData gps[] = {
- {
- 20000,
- 39.3887,
- -8.2878,
- 160,
- 0,
- 0,
- 0,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 40000,
- 39.3887,
- -8.2878,
- 160,
- 0,
- 0,
- 0,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 60000,
- 39.3887,
- -8.2878,
- 160,
- 0,
- 0,
- 0,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 80000,
- 39.3887,
- -8.2878,
- 160,
- 0,
- 0,
- 0,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 100000,
- 39.3887,
- -8.2878,
- 157.5,
- -1.5842,
- 0.88817,
- -0.39738,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 120000,
- 39.3887,
- -8.2878,
- 157.5,
- -1.5842,
- 0.88817,
- -0.39738,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 140000,
- 39.3887,
- -8.2878,
- 157.5,
- -1.5842,
- 0.88817,
- -0.39738,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 160000,
- 39.3887,
- -8.2878,
- 157.5,
- -1.5842,
- 0.88817,
- -0.39738,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 180000,
- 39.3887,
- -8.2878,
- 157.5,
- -1.5842,
- 0.88817,
- -0.39738,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 200000,
- 39.3887,
- -8.2879,
- 160.5,
- -2.0225,
- 0.20687,
- -4.8071,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 220000,
- 39.3887,
- -8.2879,
- 160.5,
- -2.0225,
- 0.20687,
- -4.8071,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 240000,
- 39.3887,
- -8.2879,
- 160.5,
- -2.0225,
- 0.20687,
- -4.8071,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 259999,
- 39.3887,
- -8.2879,
- 160.5,
- -2.0225,
- 0.20687,
- -4.8071,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 280000,
- 39.3887,
- -8.2879,
- 160.5,
- -2.0225,
- 0.20687,
- -4.8071,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 300000,
- 39.3887,
- -8.2879,
- 159.5,
- -3.8511,
- -1.6416,
- -8.3491,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 320000,
- 39.3887,
- -8.2879,
- 159.5,
- -3.8511,
- -1.6416,
- -8.3491,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 340000,
- 39.3887,
- -8.2879,
- 159.5,
- -3.8511,
- -1.6416,
- -8.3491,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 360000,
- 39.3887,
- -8.2879,
- 159.5,
- -3.8511,
- -1.6416,
- -8.3491,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 380000,
- 39.3887,
- -8.2879,
- 159.5,
- -3.8511,
- -1.6416,
- -8.3491,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 400000,
- 39.3887,
- -8.2878,
- 161.5,
- 0.86743,
- 5.4108,
- -13.2865,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 420000,
- 39.3887,
- -8.2878,
- 161.5,
- 0.86743,
- 5.4108,
- -13.2865,
- 0,
- 0,
- 0,
- 16,
- 3,
- },
- {
- 440000,
- 39.3887,
- -8.2878,
- 161.5,
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diff --git a/src/tests/catch/nas/data/gps/acc.h b/src/tests/catch/nas/data/gps/acc.h
new file mode 100644
index 0000000000000000000000000000000000000000..dd21fe21becb050b792f47859d0a5d85ba61208c
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/acc.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+AccelerometerData gps_acc[] = {
+ {
+ 20000,
+ 5.7433,
+ -0.03832,
+ -0.03353,
+ },
+ {
+ 40000,
+ 10.7728,
+ -0.02395,
+ -0.0479,
+ },
+ {
+ 60000,
+ 15.8407,
+ -0.01437,
+ 0.05269,
+ },
+ {
+ 80000,
+ 20.9085,
+ -0.062271,
+ 0.03353,
+ },
+ {
+ 100000,
+ 25.986,
+ -0.0479,
+ 0.00479,
+ },
+ {
+ 120000,
+ 31.0874,
+ -0.02874,
+ 0.02874,
+ },
+ {
+ 140000,
+ 36.2175,
+ -0.01437,
+ -0.00479,
+ },
+ {
+ 160000,
+ 41.2949,
+ 0.02874,
+ 0.062271,
+ },
+ {
+ 180000,
+ 46.3772,
+ 0.05748,
+ 0.00479,
+ },
+ {
+ 200000,
+ 51.56,
+ 0.03353,
+ -0.02395,
+ },
+ {
+ 220000,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
+ },
+ {
+ 240000,
+ 61.8155,
+ -0.01437,
+ 0.00479,
+ },
+ {
+ 259999,
+ 66.9312,
+ 0.00479,
+ -0.04311,
+ },
+ {
+ 280000,
+ 72.0039,
+ -0.05269,
+ 0,
+ },
+ {
+ 300000,
+ 72.2577,
+ 0.01437,
+ -0.01916,
+ },
+ {
+ 320000,
+ 71.5871,
+ 0.01916,
+ 0.05748,
+ },
+ {
+ 340000,
+ 70.9357,
+ 0.02874,
+ 0.03353,
+ },
+ {
+ 360000,
+ 70.2986,
+ 0,
+ -0.02395,
+ },
+ {
+ 380000,
+ 69.6663,
+ 0.04311,
+ -0.04311,
+ },
+ {
+ 400000,
+ 69.1059,
+ -0.067061,
+ 0.00479,
+ },
+ {
+ 420000,
+ 68.5455,
+ 0.01437,
+ 0.02395,
+ },
+ {
+ 440000,
+ 68.0138,
+ 0.03832,
+ 0.05748,
+ },
+ {
+ 460000,
+ 67.5491,
+ -0.03832,
+ 0.01916,
+ },
+ {
+ 480000,
+ 67.0653,
+ 0.0479,
+ 0.04311,
+ },
+ {
+ 500000,
+ 66.6342,
+ 0.0095801,
+ 0.04311,
+ },
+ {
+ 519999,
+ 66.2031,
+ -0.03832,
+ 0,
+ },
+ {
+ 540000,
+ 65.8247,
+ -0.0095801,
+ -0.00479,
+ },
+ {
+ 560000,
+ 65.4224,
+ 0.02395,
+ 0.0095801,
+ },
+ {
+ 580000,
+ 65.0535,
+ -0.0479,
+ 0.01437,
+ },
+ {
+ 600000,
+ 64.7661,
+ -0.01916,
+ 0.01437,
+ },
+ {
+ 620000,
+ 64.4691,
+ -0.086221,
+ 0.01437,
+ },
+ {
+ 640000,
+ 64.1482,
+ 0.01437,
+ -0.0095801,
+ },
+ {
+ 660000,
+ 63.971,
+ 0.0095801,
+ -0.03832,
+ },
+ {
+ 680000,
+ 63.6788,
+ 0,
+ 0.00479,
+ },
+ {
+ 700000,
+ 63.4297,
+ 0.0095801,
+ -0.02395,
+ },
+ {
+ 720000,
+ 63.2333,
+ -0.0095801,
+ 0.00479,
+ },
+ {
+ 740000,
+ 63.0992,
+ -0.02395,
+ -0.0095801,
+ },
+ {
+ 760000,
+ 62.9363,
+ 0.04311,
+ -0.0479,
+ },
+ {
+ 780000,
+ 62.807,
+ -0.02395,
+ 0.0095801,
+ },
+ {
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+};
diff --git a/src/tests/catch/nas/data/gps/baro.h b/src/tests/catch/nas/data/gps/baro.h
new file mode 100644
index 0000000000000000000000000000000000000000..82517e62cf75dd969330eb9e57b503ce5ba072e7
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/baro.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PressureData gps_baro[] = {
+ {
+ 20000,
+ 99449.4766,
+ },
+ {
+ 40000,
+ 99576.375,
+ },
+ {
+ 60000,
+ 99305.5859,
+ },
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+ },
+ {
+ 100000,
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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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diff --git a/src/tests/catch/nas/data/gps/config.h b/src/tests/catch/nas/data/gps/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..fee1f0508b77e4dc0467c3995a6330e6a82c1eb2
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig gps_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/gps/gps.h b/src/tests/catch/nas/data/gps/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..2a035f5500f3d06f7611d5634d2a43ffe3b288bf
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData gps_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 100000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 120000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 140000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 160000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 180000,
+ 39.3891,
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+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 220000,
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+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 240000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 39.3891,
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+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 280000,
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+ 0.28969,
+ -3.4618,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 300000,
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+ -1.5,
+ -0.70167,
+ 0.73178,
+ -8.7484,
+ 0,
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+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 0,
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+ 16,
+ 3,
+ },
+ {
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+ 0.73178,
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 39.3891,
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 380000,
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+ 0.73178,
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+ 0,
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+ 16,
+ 3,
+ },
+ {
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+ -2.5,
+ -1.0322,
+ 1.1327,
+ -14.783,
+ 0,
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+ 16,
+ 3,
+ },
+ {
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+ 0,
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+ 16,
+ 3,
+ },
+ {
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+ 0,
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+ },
+ {
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+ 0,
+ 0,
+ 0,
+ 16,
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+ },
+ {
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+ -2.5,
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+ 1.1327,
+ -14.783,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 0,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 600000,
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+ 0,
+ 0,
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+ 16,
+ 3,
+ },
+ {
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+ 0,
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+ 3,
+ },
+ {
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+ -10,
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 660000,
+ 39.3891,
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+ -10,
+ -1.9395,
+ 1.9533,
+ -26.2094,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 39.3891,
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+ -10,
+ -1.9395,
+ 1.9533,
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 700000,
+ 39.3891,
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+ -11.5,
+ -2.2158,
+ 2.4474,
+ -31.5134,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 720000,
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+ 2.4474,
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+ 0,
+ 0,
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+ 16,
+ 3,
+ },
+ {
+ 740000,
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+ 0,
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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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+ },
+ {
+ 1000000,
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+ {
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+ },
+ {
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+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ -3003.5,
+ -16.1169,
+ 17.2455,
+ 0.74354,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ -3003.5,
+ -16.1169,
+ 17.2455,
+ 0.74354,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ -3003.5,
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+ 0.74354,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
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+ 17.2455,
+ 0.74354,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gps/gyro.h b/src/tests/catch/nas/data/gps/gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..eec455337abe8144171aedccb16beef0c51e1dd9
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/gyro.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GyroscopeData gps_gyro[] = {
+ {
+ 20000,
+ 0,
+ 0.00013049,
+ -0.00013049,
+ },
+ {
+ 40000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ 0,
+ 0.00013049,
+ },
+ {
+ 80000,
+ 0.00013049,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 100000,
+ 0,
+ 0,
+ -0.00026099,
+ },
+ {
+ 120000,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
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+ 0.00013049,
+ 0,
+ },
+ {
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+ 0,
+ 0.00013049,
+ },
+ {
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+ -0.00013049,
+ -0.00026099,
+ },
+ {
+ 200000,
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+ -0.00013049,
+ 0.00013049,
+ },
+ {
+ 220000,
+ 0,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 240000,
+ 0.00013049,
+ 0.00026099,
+ -0.00013049,
+ },
+ {
+ 259999,
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+ 0,
+ 0.00013049,
+ },
+ {
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+ 0.00013049,
+ },
+ {
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+ },
+ {
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+ },
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+ 0,
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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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+ -0.42437,
+ 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gps/include.h b/src/tests/catch/nas/data/gps/include.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ababf3030cf227b80ac758ee7f993ca674074bc
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/include.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/gps/input.h b/src/tests/catch/nas/data/gps/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..674eed7514117493754f8bac0c4d9df386fa09f8
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/input.h
@@ -0,0 +1,3819 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState gps_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {-3.2543e-06, -1.3982e-06, -160, -0.0027536, 0.0096701, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
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+ {-0.084965, -0.12884, -160, -19.6697, 18.3159, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24320000,
+ {-0.085095, -0.12903, -160, -19.6662, 18.315, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24340000,
+ {-0.085225, -0.12922, -160, -19.6627, 18.3141, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24360000,
+ {-0.085355, -0.12941, -160, -19.6592, 18.3132, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24380000,
+ {-0.085486, -0.1296, -160, -19.6557, 18.3123, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24400000,
+ {-0.085616, -0.12978, -160, -19.6522, 18.3114, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24420000,
+ {-0.085745, -0.12997, -160, -19.6487, 18.3104, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24440000,
+ {-0.085875, -0.13017, -160, -19.6452, 18.3095, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24460000,
+ {-0.086005, -0.13036, -160, -19.6416, 18.3086, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24480000,
+ {-0.086135, -0.13055, -160, -19.6381, 18.3076, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24500000,
+ {-0.086265, -0.13074, -160, -19.6346, 18.3067, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24520000,
+ {-0.086397, -0.13093, -160, -19.6311, 18.3056, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24540000,
+ {-0.086529, -0.13112, -160, -19.6276, 18.3045, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24560000,
+ {-0.086661, -0.13131, -160, -19.6241, 18.3034, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24580000,
+ {-0.086793, -0.1315, -160, -19.6206, 18.3023, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24600000,
+ {-0.086925, -0.13169, -160, -19.6171, 18.3012, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24620000,
+ {-0.087054, -0.13188, -160, -19.6136, 18.3002, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24640000,
+ {-0.087183, -0.13207, -160, -19.6101, 18.2992, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24660000,
+ {-0.087312, -0.13226, -160, -19.6066, 18.2981, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24680000,
+ {-0.087441, -0.13245, -160, -19.6031, 18.2971, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24700000,
+ {-0.08757, -0.13264, -160, -19.5996, 18.296, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {24720000,
+ {-0.087701, -0.13284, -160, -19.5961, 18.295, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24740000,
+ {-0.087833, -0.13303, -160, -19.5927, 18.2939, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24760000,
+ {-0.087964, -0.13322, -160, -19.5892, 18.2928, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24780000,
+ {-0.088095, -0.13341, -160, -19.5857, 18.2917, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24800000,
+ {-0.088227, -0.1336, -160, -19.5823, 18.2907, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24820000,
+ {-0.088357, -0.1338, -160, -19.5788, 18.2896, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24840000,
+ {-0.088487, -0.13399, -160, -19.5753, 18.2886, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24860000,
+ {-0.088617, -0.13418, -160, -19.5718, 18.2875, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24880000,
+ {-0.088747, -0.13438, -160, -19.5683, 18.2865, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24900000,
+ {-0.088877, -0.13457, -160, -19.5648, 18.2855, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24920000,
+ {-0.08901, -0.13476, -160, -19.5614, 18.2844, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24940000,
+ {-0.089143, -0.13495, -160, -19.5579, 18.2833, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24960000,
+ {-0.089275, -0.13514, -160, -19.5545, 18.2822, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24980000,
+ {-0.089408, -0.13533, -160, -19.5511, 18.2811, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25000000,
+ {-0.08954, -0.13552, -160, -19.5477, 18.28, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {25020000,
+ {-0.089671, -0.13572, -160, -19.5442, 18.279, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25040000,
+ {-0.089801, -0.13591, -160, -19.5408, 18.2779, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25060000,
+ {-0.089931, -0.1361, -160, -19.5373, 18.2769, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25080000,
+ {-0.090061, -0.1363, -160, -19.5339, 18.2758, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25100000,
+ {-0.090192, -0.13649, -160, -19.5304, 18.2748, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25120000,
+ {-0.090321, -0.13668, -160, -19.527, 18.2737, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25140000,
+ {-0.09045, -0.13687, -160, -19.5235, 18.2727, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25160000,
+ {-0.090579, -0.13706, -160, -19.52, 18.2716, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {25180000,
+ {-0.090708, -0.13725, -160, -19.5166, 18.2706, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25200000,
+ {-0.090837, -0.13745, -160, -19.5131, 18.2696, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25220000,
+ {-0.090968, -0.13764, -160, -19.5098, 18.2685, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25240000,
+ {-0.091098, -0.13783, -160, -19.5064, 18.2674, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25260000,
+ {-0.091229, -0.13803, -160, -19.503, 18.2663, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/gps/mag.h b/src/tests/catch/nas/data/gps/mag.h
new file mode 100644
index 0000000000000000000000000000000000000000..53c3eb93eccc3f146c8fbd6c12a20e88b32cda7f
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/mag.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+MagnetometerData gps_mag[] = {
+ {
+ 20000,
+ -373.52,
+ -193.14,
+ -146.16,
+ },
+ {
+ 40000,
+ -375.26,
+ -191.98,
+ -146.74,
+ },
+ {
+ 60000,
+ -374.1,
+ -193.14,
+ -145.58,
+ },
+ {
+ 80000,
+ -372.36,
+ -191.4,
+ -143.84,
+ },
+ {
+ 100000,
+ -372.94,
+ -191.98,
+ -140.94,
+ },
+ {
+ 120000,
+ -372.36,
+ -188.5,
+ -144.42,
+ },
+ {
+ 140000,
+ -374.68,
+ -187.92,
+ -145,
+ },
+ {
+ 160000,
+ -372.36,
+ -192.56,
+ -143.84,
+ },
+ {
+ 180000,
+ -374.68,
+ -192.56,
+ -143.26,
+ },
+ {
+ 200000,
+ -372.94,
+ -187.34,
+ -143.84,
+ },
+ {
+ 220000,
+ -375.84,
+ -192.56,
+ -143.26,
+ },
+ {
+ 240000,
+ -375.26,
+ -188.5,
+ -146.16,
+ },
+ {
+ 259999,
+ -377.58,
+ -190.82,
+ -146.16,
+ },
+ {
+ 280000,
+ -371.2,
+ -187.34,
+ -143.26,
+ },
+ {
+ 300000,
+ -374.68,
+ -193.14,
+ -145.58,
+ },
+ {
+ 320000,
+ -374.68,
+ -185.6,
+ -142.68,
+ },
+ {
+ 340000,
+ -374.1,
+ -188.5,
+ -143.84,
+ },
+ {
+ 360000,
+ -375.26,
+ -189.66,
+ -140.94,
+ },
+ {
+ 380000,
+ -374.68,
+ -191.98,
+ -145,
+ },
+ {
+ 400000,
+ -373.52,
+ -192.56,
+ -143.26,
+ },
+ {
+ 420000,
+ -372.94,
+ -191.4,
+ -140.36,
+ },
+ {
+ 440000,
+ -376.42,
+ -193.14,
+ -146.74,
+ },
+ {
+ 460000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 480000,
+ -373.52,
+ -190.24,
+ -143.26,
+ },
+ {
+ 500000,
+ -374.1,
+ -186.76,
+ -146.16,
+ },
+ {
+ 519999,
+ -371.2,
+ -187.34,
+ -145,
+ },
+ {
+ 540000,
+ -375.26,
+ -189.08,
+ -146.74,
+ },
+ {
+ 560000,
+ -375.26,
+ -186.18,
+ -145,
+ },
+ {
+ 580000,
+ -375.84,
+ -187.92,
+ -145.58,
+ },
+ {
+ 600000,
+ -372.36,
+ -190.24,
+ -145,
+ },
+ {
+ 620000,
+ -373.52,
+ -189.08,
+ -143.84,
+ },
+ {
+ 640000,
+ -372.94,
+ -186.18,
+ -146.16,
+ },
+ {
+ 660000,
+ -374.1,
+ -187.34,
+ -145,
+ },
+ {
+ 680000,
+ -373.52,
+ -187.34,
+ -142.1,
+ },
+ {
+ 700000,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 720000,
+ -369.46,
+ -189.08,
+ -145,
+ },
+ {
+ 740000,
+ -377,
+ -183.86,
+ -141.52,
+ },
+ {
+ 760000,
+ -378.16,
+ -187.92,
+ -144.42,
+ },
+ {
+ 780000,
+ -372.94,
+ -190.24,
+ -145,
+ },
+ {
+ 800000,
+ -375.26,
+ -190.82,
+ -145.58,
+ },
+ {
+ 820000,
+ -377.58,
+ -186.76,
+ -145,
+ },
+ {
+ 840000,
+ -375.84,
+ -191.98,
+ -145,
+ },
+ {
+ 860000,
+ -373.52,
+ -193.14,
+ -147.9,
+ },
+ {
+ 880000,
+ -372.94,
+ -188.5,
+ -142.68,
+ },
+ {
+ 900000,
+ -374.68,
+ -190.24,
+ -142.1,
+ },
+ {
+ 920000,
+ -372.36,
+ -193.14,
+ -147.32,
+ },
+ {
+ 940000,
+ -374.68,
+ -191.98,
+ -142.1,
+ },
+ {
+ 960000,
+ -376.42,
+ -187.92,
+ -142.1,
+ },
+ {
+ 980000,
+ -372.94,
+ -189.66,
+ -146.74,
+ },
+ {
+ 1000000,
+ -374.68,
+ -185.6,
+ -144.42,
+ },
+ {
+ 1020000,
+ -375.26,
+ -186.76,
+ -142.68,
+ },
+ {
+ 1039999,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 1060000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1080000,
+ -374.1,
+ -186.18,
+ -144.42,
+ },
+ {
+ 1100000,
+ -372.36,
+ -189.08,
+ -146.16,
+ },
+ {
+ 1120000,
+ -371.78,
+ -189.66,
+ -143.26,
+ },
+ {
+ 1140000,
+ -377,
+ -190.82,
+ -147.9,
+ },
+ {
+ 1160000,
+ -377.58,
+ -190.82,
+ -145,
+ },
+ {
+ 1180000,
+ -374.68,
+ -190.82,
+ -145,
+ },
+ {
+ 1200000,
+ -374.68,
+ -190.24,
+ -143.26,
+ },
+ {
+ 1220000,
+ -375.26,
+ -189.08,
+ -143.84,
+ },
+ {
+ 1240000,
+ -373.52,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1260000,
+ -371.78,
+ -187.92,
+ -146.16,
+ },
+ {
+ 1280000,
+ -374.68,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1300000,
+ -371.78,
+ -188.5,
+ -142.68,
+ },
+ {
+ 1320000,
+ -374.1,
+ -190.24,
+ -145,
+ },
+ {
+ 1340000,
+ -377.58,
+ -191.4,
+ -143.26,
+ },
+ {
+ 1360000,
+ -372.94,
+ -190.24,
+ -143.84,
+ },
+ {
+ 1380000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 1400000,
+ -374.1,
+ -191.98,
+ -142.68,
+ },
+ {
+ 1420000,
+ -376.42,
+ -192.56,
+ -142.68,
+ },
+ {
+ 1440000,
+ -377.58,
+ -191.98,
+ -139.2,
+ },
+ {
+ 1460000,
+ -378.16,
+ -191.98,
+ -145,
+ },
+ {
+ 1480000,
+ -371.2,
+ -190.82,
+ -140.36,
+ },
+ {
+ 1500000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1520000,
+ -374.1,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1540000,
+ -377,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1560000,
+ -373.52,
+ -190.82,
+ -139.2,
+ },
+ {
+ 1580000,
+ -374.68,
+ -188.5,
+ -140.36,
+ },
+ {
+ 1600000,
+ -374.1,
+ -191.4,
+ -142.1,
+ },
+ {
+ 1620000,
+ -375.26,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1640000,
+ -374.68,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1660000,
+ -374.1,
+ -189.66,
+ -139.78,
+ },
+ {
+ 1680000,
+ -376.42,
+ -189.08,
+ -140.94,
+ },
+ {
+ 1700000,
+ -372.36,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1720000,
+ -375.26,
+ -189.66,
+ -136.3,
+ },
+ {
+ 1740000,
+ -377,
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+ -142.1,
+ },
+ {
+ 1760000,
+ -377,
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+ -140.94,
+ },
+ {
+ 1780000,
+ -379.9,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1800000,
+ -376.42,
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+ },
+ {
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+ -137.46,
+ },
+ {
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+ -189.08,
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+ },
+ {
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+ },
+ {
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+ -137.46,
+ },
+ {
+ 1900000,
+ -377,
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+ },
+ {
+ 1920000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 1980000,
+ -375.26,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 2100000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ -132.82,
+ },
+ {
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+ },
+ {
+ 2220000,
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+ -136.88,
+ },
+ {
+ 2240000,
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diff --git a/src/tests/catch/nas/data/gps/output.h b/src/tests/catch/nas/data/gps/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..20a57eefabc119e3795d8032bee0dc54ba266ebd
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/output.h
@@ -0,0 +1,3820 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState gps_output[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {-3.2543e-06, -1.3982e-06, -160, -0.0027536, 0.0096701, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {-6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135, 0, -0.61363,
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+ {-0.085355, -0.12941, -160, -19.6592, 18.3132, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24360000,
+ {-0.085486, -0.1296, -160, -19.6557, 18.3123, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24380000,
+ {-0.085616, -0.12978, -160, -19.6522, 18.3114, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24400000,
+ {-0.085745, -0.12997, -160, -19.6487, 18.3104, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24420000,
+ {-0.085875, -0.13017, -160, -19.6452, 18.3095, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24440000,
+ {-0.086005, -0.13036, -160, -19.6416, 18.3086, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24460000,
+ {-0.086135, -0.13055, -160, -19.6381, 18.3076, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24480000,
+ {-0.086265, -0.13074, -160, -19.6346, 18.3067, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24500000,
+ {-0.086397, -0.13093, -160, -19.6311, 18.3056, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24520000,
+ {-0.086529, -0.13112, -160, -19.6276, 18.3045, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24540000,
+ {-0.086661, -0.13131, -160, -19.6241, 18.3034, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24560000,
+ {-0.086793, -0.1315, -160, -19.6206, 18.3023, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24580000,
+ {-0.086925, -0.13169, -160, -19.6171, 18.3012, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24600000,
+ {-0.087054, -0.13188, -160, -19.6136, 18.3002, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24620000,
+ {-0.087183, -0.13207, -160, -19.6101, 18.2992, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24640000,
+ {-0.087312, -0.13226, -160, -19.6066, 18.2981, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24660000,
+ {-0.087441, -0.13245, -160, -19.6031, 18.2971, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24680000,
+ {-0.08757, -0.13264, -160, -19.5996, 18.296, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {24700000,
+ {-0.087701, -0.13284, -160, -19.5961, 18.295, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24720000,
+ {-0.087833, -0.13303, -160, -19.5927, 18.2939, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24740000,
+ {-0.087964, -0.13322, -160, -19.5892, 18.2928, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24760000,
+ {-0.088095, -0.13341, -160, -19.5857, 18.2917, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24780000,
+ {-0.088227, -0.1336, -160, -19.5823, 18.2907, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24800000,
+ {-0.088357, -0.1338, -160, -19.5788, 18.2896, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24820000,
+ {-0.088487, -0.13399, -160, -19.5753, 18.2886, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24840000,
+ {-0.088617, -0.13418, -160, -19.5718, 18.2875, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24860000,
+ {-0.088747, -0.13438, -160, -19.5683, 18.2865, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24880000,
+ {-0.088877, -0.13457, -160, -19.5648, 18.2855, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24900000,
+ {-0.08901, -0.13476, -160, -19.5614, 18.2844, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24920000,
+ {-0.089143, -0.13495, -160, -19.5579, 18.2833, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24940000,
+ {-0.089275, -0.13514, -160, -19.5545, 18.2822, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24960000,
+ {-0.089408, -0.13533, -160, -19.5511, 18.2811, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {24980000,
+ {-0.08954, -0.13552, -160, -19.5477, 18.28, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {25000000,
+ {-0.089671, -0.13572, -160, -19.5442, 18.279, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25020000,
+ {-0.089801, -0.13591, -160, -19.5408, 18.2779, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25040000,
+ {-0.089931, -0.1361, -160, -19.5373, 18.2769, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25060000,
+ {-0.090061, -0.1363, -160, -19.5339, 18.2758, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25080000,
+ {-0.090192, -0.13649, -160, -19.5304, 18.2748, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25100000,
+ {-0.090321, -0.13668, -160, -19.527, 18.2737, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25120000,
+ {-0.09045, -0.13687, -160, -19.5235, 18.2727, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25140000,
+ {-0.090579, -0.13706, -160, -19.52, 18.2716, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0}},
+ {25160000,
+ {-0.090708, -0.13725, -160, -19.5166, 18.2706, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25180000,
+ {-0.090837, -0.13745, -160, -19.5131, 18.2696, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25200000,
+ {-0.090968, -0.13764, -160, -19.5098, 18.2685, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25220000,
+ {-0.091098, -0.13783, -160, -19.5064, 18.2674, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25240000,
+ {-0.091229, -0.13803, -160, -19.503, 18.2663, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+ {25260000,
+ {-0.091359, -0.13822, -160, -19.4997, 18.2652, 0, -0.61363, 0.26682,
+ 0.68151, 0.29633, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/gps/pitot.h b/src/tests/catch/nas/data/gps/pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..4e9a3034261da31382271ef0165b96f1d718a4ae
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/pitot.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PitotData gps_pitot[] = {
+ {
+ 20000,
+ 0,
+ },
+ {
+ 40000,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ },
+ {
+ 80000,
+ 0,
+ },
+ {
+ 100000,
+ 0,
+ },
+ {
+ 120000,
+ 0,
+ },
+ {
+ 140000,
+ 0,
+ },
+ {
+ 160000,
+ 6.4819,
+ },
+ {
+ 180000,
+ 6.4819,
+ },
+ {
+ 200000,
+ 0,
+ },
+ {
+ 220000,
+ 0,
+ },
+ {
+ 240000,
+ 0,
+ },
+ {
+ 259999,
+ 6.4819,
+ },
+ {
+ 280000,
+ 6.4819,
+ },
+ {
+ 300000,
+ 11.2259,
+ },
+ {
+ 320000,
+ 11.2259,
+ },
+ {
+ 340000,
+ 11.2259,
+ },
+ {
+ 360000,
+ 12.9636,
+ },
+ {
+ 380000,
+ 12.9636,
+ },
+ {
+ 400000,
+ 17.1491,
+ },
+ {
+ 420000,
+ 17.1491,
+ },
+ {
+ 440000,
+ 17.1491,
+ },
+ {
+ 460000,
+ 19.4435,
+ },
+ {
+ 480000,
+ 19.4435,
+ },
+ {
+ 500000,
+ 20.4917,
+ },
+ {
+ 519999,
+ 20.4917,
+ },
+ {
+ 540000,
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+ },
+ {
+ 560000,
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+ },
+ {
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+ },
+ {
+ 600000,
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+ },
+ {
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+ },
+ {
+ 640000,
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+ },
+ {
+ 660000,
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+ },
+ {
+ 680000,
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+ },
+ {
+ 700000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 800000,
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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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+ },
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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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+ },
+ {
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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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+ },
+ {
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+ },
+ {
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diff --git a/src/tests/catch/nas/data/gps/steps.h b/src/tests/catch/nas/data/gps/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..b40fbc386895be711dd0e1f2c7baae27cdfc5ca0
--- /dev/null
+++ b/src/tests/catch/nas/data/gps/steps.h
@@ -0,0 +1,11526 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASPredictionSteps gps_steps[]{
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -3.2543e-06, -1.3982e-06,
+ -160, -0.0027536, 0.0096701, 0, -3.2543e-06,
+ -1.3982e-06, -160, -0.0027536, 0.0096701, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -3.2543e-06, -1.3982e-06, -160,
+ -0.0027536, 0.0096701, 0,
+ },
+ {
+ -3.2543e-06, -1.3982e-06, -160, -0.0027536, 0.0096701,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, -6.5074e-06, -2.7957e-06,
+ -160, -0.0045944, 0.016135, 0, -6.5074e-06,
+ -2.7957e-06, -160, -0.0045944, 0.016135, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -6.5074e-06, -2.7957e-06, -160,
+ -0.0045944, 0.016135, 0,
+ },
+ {
+ -6.5074e-06, -2.7957e-06, -160, -0.0045944, 0.016135,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633,
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+ 0, -0.088357, -0.1338, -160, -19.5788, 18.2896,
+ 0, -0.088357, -0.1338, -160, -19.5788, 18.2896,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.088357, -0.1338, -160, -19.5788,
+ 18.2896, 0,
+ },
+ {
+ -0.088357, -0.1338, -160, -19.5788, 18.2896, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.088487, -0.13399, -160, -19.5753, 18.2886,
+ 0, -0.088487, -0.13399, -160, -19.5753, 18.2886,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.088487, -0.13399, -160, -19.5753,
+ 18.2886, 0,
+ },
+ {
+ -0.088487, -0.13399, -160, -19.5753, 18.2886, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.088617, -0.13418, -160, -19.5718, 18.2875,
+ 0, -0.088617, -0.13418, -160, -19.5718, 18.2875,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.088617, -0.13418, -160, -19.5718,
+ 18.2875, 0,
+ },
+ {
+ -0.088617, -0.13418, -160, -19.5718, 18.2875, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.088747, -0.13438, -160, -19.5683, 18.2865,
+ 0, -0.088747, -0.13438, -160, -19.5683, 18.2865,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.088747, -0.13438, -160, -19.5683,
+ 18.2865, 0,
+ },
+ {
+ -0.088747, -0.13438, -160, -19.5683, 18.2865, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.088877, -0.13457, -160, -19.5648, 18.2855,
+ 0, -0.088877, -0.13457, -160, -19.5648, 18.2855,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.088877, -0.13457, -160, -19.5648,
+ 18.2855, 0,
+ },
+ {
+ -0.088877, -0.13457, -160, -19.5648, 18.2855, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.08901,
+ -0.13476, -160, -19.5614, 18.2844, 0, -0.08901, -0.13476,
+ -160, -19.5614, 18.2844, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.08901, -0.13476, -160,
+ -19.5614, 18.2844, 0,
+ },
+ {
+ -0.08901, -0.13476, -160, -19.5614, 18.2844, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.089143,
+ -0.13495, -160, -19.5579, 18.2833, 0, -0.089143, -0.13495,
+ -160, -19.5579, 18.2833, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.089143, -0.13495, -160,
+ -19.5579, 18.2833, 0,
+ },
+ {
+ -0.089143, -0.13495, -160, -19.5579, 18.2833, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.089275, -0.13514, -160, -19.5545, 18.2822,
+ 0, -0.089275, -0.13514, -160, -19.5545, 18.2822,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.089275, -0.13514, -160, -19.5545,
+ 18.2822, 0,
+ },
+ {
+ -0.089275, -0.13514, -160, -19.5545, 18.2822, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.089408, -0.13533, -160, -19.5511, 18.2811,
+ 0, -0.089408, -0.13533, -160, -19.5511, 18.2811,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.089408, -0.13533, -160, -19.5511,
+ 18.2811, 0,
+ },
+ {
+ -0.089408, -0.13533, -160, -19.5511, 18.2811, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.08954,
+ -0.13552, -160, -19.5477, 18.28, 0, -0.08954, -0.13552,
+ -160, -19.5477, 18.28, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.08954, -0.13552, -160,
+ -19.5477, 18.28, 0,
+ },
+ {
+ -0.08954, -0.13552, -160, -19.5477, 18.28, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.089671,
+ -0.13572, -160, -19.5442, 18.279, 0, -0.089671, -0.13572,
+ -160, -19.5442, 18.279, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.089671, -0.13572, -160,
+ -19.5442, 18.279, 0,
+ },
+ {
+ -0.089671, -0.13572, -160, -19.5442, 18.279, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.089801, -0.13591, -160, -19.5408, 18.2779,
+ 0, -0.089801, -0.13591, -160, -19.5408, 18.2779,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.089801, -0.13591, -160, -19.5408,
+ 18.2779, 0,
+ },
+ {
+ -0.089801, -0.13591, -160, -19.5408, 18.2779, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.089931, -0.1361, -160, -19.5373, 18.2769,
+ 0, -0.089931, -0.1361, -160, -19.5373, 18.2769,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.089931, -0.1361, -160, -19.5373,
+ 18.2769, 0,
+ },
+ {
+ -0.089931, -0.1361, -160, -19.5373, 18.2769, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.090061, -0.1363, -160, -19.5339, 18.2758,
+ 0, -0.090061, -0.1363, -160, -19.5339, 18.2758,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.090061, -0.1363, -160, -19.5339,
+ 18.2758, 0,
+ },
+ {
+ -0.090061, -0.1363, -160, -19.5339, 18.2758, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.090192, -0.13649, -160, -19.5304, 18.2748,
+ 0, -0.090192, -0.13649, -160, -19.5304, 18.2748,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.090192, -0.13649, -160, -19.5304,
+ 18.2748, 0,
+ },
+ {
+ -0.090192, -0.13649, -160, -19.5304, 18.2748, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.090321,
+ -0.13668, -160, -19.527, 18.2737, 0, -0.090321, -0.13668,
+ -160, -19.527, 18.2737, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.090321, -0.13668, -160,
+ -19.527, 18.2737, 0,
+ },
+ {
+ -0.090321, -0.13668, -160, -19.527, 18.2737, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.09045,
+ -0.13687, -160, -19.5235, 18.2727, 0, -0.09045, -0.13687,
+ -160, -19.5235, 18.2727, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.09045, -0.13687, -160,
+ -19.5235, 18.2727, 0,
+ },
+ {
+ -0.09045, -0.13687, -160, -19.5235, 18.2727, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.090579,
+ -0.13706, -160, -19.52, 18.2716, 0, -0.090579, -0.13706,
+ -160, -19.52, 18.2716, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.090579, -0.13706, -160,
+ -19.52, 18.2716, 0,
+ },
+ {
+ -0.090579, -0.13706, -160, -19.52, 18.2716, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.090708,
+ -0.13725, -160, -19.5166, 18.2706, 0, -0.090708, -0.13725,
+ -160, -19.5166, 18.2706, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.090708, -0.13725, -160,
+ -19.5166, 18.2706, 0,
+ },
+ {
+ -0.090708, -0.13725, -160, -19.5166, 18.2706, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.090837, -0.13745, -160, -19.5131, 18.2696,
+ 0, -0.090837, -0.13745, -160, -19.5131, 18.2696,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.090837, -0.13745, -160, -19.5131,
+ 18.2696, 0,
+ },
+ {
+ -0.090837, -0.13745, -160, -19.5131, 18.2696, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.090968, -0.13764, -160, -19.5098, 18.2685,
+ 0, -0.090968, -0.13764, -160, -19.5098, 18.2685,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.090968, -0.13764, -160, -19.5098,
+ 18.2685, 0,
+ },
+ {
+ -0.090968, -0.13764, -160, -19.5098, 18.2685, 0,
+ -0.61363, 0.26682, 0.68151, 0.29633, 0, 0,
+ 0, -0.091098, -0.13783, -160, -19.5064, 18.2674,
+ 0, -0.091098, -0.13783, -160, -19.5064, 18.2674,
+ 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, -0.091098, -0.13783, -160, -19.5064,
+ 18.2674, 0,
+ },
+ {
+ -0.091098, -0.13783, -160, -19.5064, 18.2674, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.091229,
+ -0.13803, -160, -19.503, 18.2663, 0, -0.091229, -0.13803,
+ -160, -19.503, 18.2663, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.091229, -0.13803, -160,
+ -19.503, 18.2663, 0,
+ },
+ {
+ -0.091229, -0.13803, -160, -19.503, 18.2663, 0, -0.61363,
+ 0.26682, 0.68151, 0.29633, 0, 0, 0, -0.091359,
+ -0.13822, -160, -19.4997, 18.2652, 0, -0.091359, -0.13822,
+ -160, -19.4997, 18.2652, 0, -0.61363, 0.26682, 0.68151,
+ 0.29633, 0, 0, 0, -0.091359, -0.13822, -160,
+ -19.4997, 18.2652, 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gyro/acc.h b/src/tests/catch/nas/data/gyro/acc.h
new file mode 100644
index 0000000000000000000000000000000000000000..02d99c9234909d648905e666fb1d0038b405fba8
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/acc.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+AccelerometerData gyro_acc[] = {
+ {
+ 20000,
+ 5.7433,
+ -0.03832,
+ -0.03353,
+ },
+ {
+ 40000,
+ 10.7728,
+ -0.02395,
+ -0.0479,
+ },
+ {
+ 60000,
+ 15.8407,
+ -0.01437,
+ 0.05269,
+ },
+ {
+ 80000,
+ 20.9085,
+ -0.062271,
+ 0.03353,
+ },
+ {
+ 100000,
+ 25.986,
+ -0.0479,
+ 0.00479,
+ },
+ {
+ 120000,
+ 31.0874,
+ -0.02874,
+ 0.02874,
+ },
+ {
+ 140000,
+ 36.2175,
+ -0.01437,
+ -0.00479,
+ },
+ {
+ 160000,
+ 41.2949,
+ 0.02874,
+ 0.062271,
+ },
+ {
+ 180000,
+ 46.3772,
+ 0.05748,
+ 0.00479,
+ },
+ {
+ 200000,
+ 51.56,
+ 0.03353,
+ -0.02395,
+ },
+ {
+ 220000,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
+ },
+ {
+ 240000,
+ 61.8155,
+ -0.01437,
+ 0.00479,
+ },
+ {
+ 259999,
+ 66.9312,
+ 0.00479,
+ -0.04311,
+ },
+ {
+ 280000,
+ 72.0039,
+ -0.05269,
+ 0,
+ },
+ {
+ 300000,
+ 72.2577,
+ 0.01437,
+ -0.01916,
+ },
+ {
+ 320000,
+ 71.5871,
+ 0.01916,
+ 0.05748,
+ },
+ {
+ 340000,
+ 70.9357,
+ 0.02874,
+ 0.03353,
+ },
+ {
+ 360000,
+ 70.2986,
+ 0,
+ -0.02395,
+ },
+ {
+ 380000,
+ 69.6663,
+ 0.04311,
+ -0.04311,
+ },
+ {
+ 400000,
+ 69.1059,
+ -0.067061,
+ 0.00479,
+ },
+ {
+ 420000,
+ 68.5455,
+ 0.01437,
+ 0.02395,
+ },
+ {
+ 440000,
+ 68.0138,
+ 0.03832,
+ 0.05748,
+ },
+ {
+ 460000,
+ 67.5491,
+ -0.03832,
+ 0.01916,
+ },
+ {
+ 480000,
+ 67.0653,
+ 0.0479,
+ 0.04311,
+ },
+ {
+ 500000,
+ 66.6342,
+ 0.0095801,
+ 0.04311,
+ },
+ {
+ 519999,
+ 66.2031,
+ -0.03832,
+ 0,
+ },
+ {
+ 540000,
+ 65.8247,
+ -0.0095801,
+ -0.00479,
+ },
+ {
+ 560000,
+ 65.4224,
+ 0.02395,
+ 0.0095801,
+ },
+ {
+ 580000,
+ 65.0535,
+ -0.0479,
+ 0.01437,
+ },
+ {
+ 600000,
+ 64.7661,
+ -0.01916,
+ 0.01437,
+ },
+ {
+ 620000,
+ 64.4691,
+ -0.086221,
+ 0.01437,
+ },
+ {
+ 640000,
+ 64.1482,
+ 0.01437,
+ -0.0095801,
+ },
+ {
+ 660000,
+ 63.971,
+ 0.0095801,
+ -0.03832,
+ },
+ {
+ 680000,
+ 63.6788,
+ 0,
+ 0.00479,
+ },
+ {
+ 700000,
+ 63.4297,
+ 0.0095801,
+ -0.02395,
+ },
+ {
+ 720000,
+ 63.2333,
+ -0.0095801,
+ 0.00479,
+ },
+ {
+ 740000,
+ 63.0992,
+ -0.02395,
+ -0.0095801,
+ },
+ {
+ 760000,
+ 62.9363,
+ 0.04311,
+ -0.0479,
+ },
+ {
+ 780000,
+ 62.807,
+ -0.02395,
+ 0.0095801,
+ },
+ {
+ 800000,
+ 62.6872,
+ -0.02874,
+ -0.03353,
+ },
+ {
+ 820000,
+ 62.5914,
+ 0.01916,
+ -0.0095801,
+ },
+ {
+ 840000,
+ 62.5052,
+ 0,
+ -0.02395,
+ },
+ {
+ 860000,
+ 62.4238,
+ 0.03832,
+ -0.0479,
+ },
+ {
+ 880000,
+ 62.3807,
+ -0.02874,
+ -0.03832,
+ },
+ {
+ 900000,
+ 62.3519,
+ -0.01916,
+ -0.02395,
+ },
+ {
+ 920000,
+ 62.3903,
+ 0.03832,
+ -0.03353,
+ },
+ {
+ 940000,
+ 62.4286,
+ 0.02395,
+ -0.00479,
+ },
+ {
+ 960000,
+ 62.4334,
+ -0.03353,
+ -0.04311,
+ },
+ {
+ 980000,
+ 62.5579,
+ -0.01437,
+ -0.05748,
+ },
+ {
+ 1000000,
+ 62.5723,
+ 0.02395,
+ -0.0479,
+ },
+ {
+ 1020000,
+ 62.7304,
+ -0.01437,
+ -0.03353,
+ },
+ {
+ 1039999,
+ 62.7974,
+ 0.01437,
+ -0.03832,
+ },
+ {
+ 1060000,
+ 62.8118,
+ -0.00479,
+ -0.091011,
+ },
+ {
+ 1080000,
+ 63.0609,
+ 0.0479,
+ -0.05748,
+ },
+ {
+ 1100000,
+ 63.1136,
+ -0.02874,
+ -0.02874,
+ },
+ {
+ 1120000,
+ 63.262,
+ 0.00479,
+ -0.062271,
+ },
+ {
+ 1140000,
+ 63.4345,
+ 0.02395,
+ -0.086221,
+ },
+ {
+ 1160000,
+ 63.5303,
+ 0.02874,
+ -0.12454,
+ },
+ {
+ 1180000,
+ 63.6405,
+ 0.01916,
+ -0.095801,
+ },
+ {
+ 1200000,
+ 63.8512,
+ 0.02395,
+ -0.091011,
+ },
+ {
+ 1220000,
+ 63.9949,
+ -0.03353,
+ -0.071851,
+ },
+ {
+ 1240000,
+ 64.2153,
+ 0.01916,
+ -0.12454,
+ },
+ {
+ 1260000,
+ 64.3733,
+ 0.0479,
+ -0.081431,
+ },
+ {
+ 1280000,
+ 64.517,
+ 0.03832,
+ -0.091011,
+ },
+ {
+ 1300000,
+ 64.6799,
+ 0.02395,
+ -0.10538,
+ },
+ {
+ 1320000,
+ 64.8523,
+ -0.00479,
+ -0.12454,
+ },
+ {
+ 1340000,
+ 65.0344,
+ 0.04311,
+ -0.11017,
+ },
+ {
+ 1360000,
+ 65.1493,
+ -0.00479,
+ -0.11496,
+ },
+ {
+ 1380000,
+ 65.3409,
+ 0.01916,
+ -0.11975,
+ },
+ {
+ 1400000,
+ 65.5277,
+ 0.02874,
+ -0.12454,
+ },
+ {
+ 1420000,
+ 65.6475,
+ -0.05269,
+ -0.10538,
+ },
+ {
+ 1440000,
+ 65.8008,
+ 0.0095801,
+ -0.076641,
+ },
+ {
+ 1460000,
+ 65.9445,
+ 0.05748,
+ -0.11975,
+ },
+ {
+ 1480000,
+ 66.0499,
+ 0.0095801,
+ -0.15807,
+ },
+ {
+ 1500000,
+ 66.2175,
+ 0.00479,
+ -0.12933,
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diff --git a/src/tests/catch/nas/data/gyro/baro.h b/src/tests/catch/nas/data/gyro/baro.h
new file mode 100644
index 0000000000000000000000000000000000000000..366bb3dd65245eda7780c210b255ddb80fd0fed0
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/baro.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PressureData gyro_baro[] = {
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+};
diff --git a/src/tests/catch/nas/data/gyro/config.h b/src/tests/catch/nas/data/gyro/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..096b9ad2dcc905432e3ab21ec5454cc245aec3fa
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig gyro_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/gyro/gps.h b/src/tests/catch/nas/data/gyro/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..5254786ccccc9b331ff4d4f92139e7682653b44a
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData gyro_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 100000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 120000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 140000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 160000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 180000,
+ 39.3891,
+ -8.2879,
+ 0.5,
+ -0.01386,
+ 0.048673,
+ -0.50046,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 200000,
+ 39.3891,
+ -8.2879,
+ 1.5,
+ -0.26329,
+ 0.28969,
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diff --git a/src/tests/catch/nas/data/gyro/gyro.h b/src/tests/catch/nas/data/gyro/gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..b41718723b3ff5c5bd146405508f0722ae2db1e2
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/gyro.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GyroscopeData gyro_gyro[] = {
+ {
+ 20000,
+ 0,
+ 0.00013049,
+ -0.00013049,
+ },
+ {
+ 40000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ 0,
+ 0.00013049,
+ },
+ {
+ 80000,
+ 0.00013049,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 100000,
+ 0,
+ 0,
+ -0.00026099,
+ },
+ {
+ 120000,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
+ 140000,
+ 0.00013049,
+ 0.00013049,
+ 0,
+ },
+ {
+ 160000,
+ -0.00013049,
+ 0,
+ 0.00013049,
+ },
+ {
+ 180000,
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+ },
+ {
+ 24600000,
+ -0.00013049,
+ -0.34672,
+ 0,
+ },
+ {
+ 24620000,
+ 0,
+ -0.34907,
+ 0,
+ },
+ {
+ 24640000,
+ 0,
+ -0.35142,
+ 0.00013049,
+ },
+ {
+ 24660000,
+ -0.00026099,
+ -0.3539,
+ -0.00013049,
+ },
+ {
+ 24680000,
+ -0.00026099,
+ -0.35638,
+ 0.00026099,
+ },
+ {
+ 24700000,
+ -0.00026099,
+ -0.3586,
+ 0,
+ },
+ {
+ 24720000,
+ 0.00013049,
+ -0.36108,
+ -0.00013049,
+ },
+ {
+ 24740000,
+ -0.00026099,
+ -0.3633,
+ 0,
+ },
+ {
+ 24760000,
+ -0.00013049,
+ -0.36578,
+ 0,
+ },
+ {
+ 24780000,
+ 0,
+ -0.36813,
+ -0.00026099,
+ },
+ {
+ 24800000,
+ -0.00026099,
+ -0.37034,
+ -0.00013049,
+ },
+ {
+ 24820000,
+ -0.00013049,
+ -0.37282,
+ -0.00013049,
+ },
+ {
+ 24840000,
+ -0.00026099,
+ -0.37543,
+ -0.00026099,
+ },
+ {
+ 24860000,
+ -0.00026099,
+ -0.37752,
+ -0.00013049,
+ },
+ {
+ 24880000,
+ 0.00013049,
+ -0.38013,
+ 0,
+ },
+ {
+ 24900000,
+ 0,
+ -0.38235,
+ -0.00013049,
+ },
+ {
+ 24920000,
+ 0,
+ -0.38496,
+ 0,
+ },
+ {
+ 24940000,
+ 0.00013049,
+ -0.38731,
+ 0,
+ },
+ {
+ 24960000,
+ 0.00013049,
+ -0.38953,
+ -0.00013049,
+ },
+ {
+ 24980000,
+ -0.00013049,
+ -0.39201,
+ -0.00013049,
+ },
+ {
+ 25000000,
+ 0,
+ -0.39449,
+ -0.00013049,
+ },
+ {
+ 25020000,
+ -0.00026099,
+ -0.3967,
+ 0,
+ },
+ {
+ 25040000,
+ -0.00013049,
+ -0.39918,
+ -0.00013049,
+ },
+ {
+ 25060000,
+ -0.00013049,
+ -0.40153,
+ 0.00013049,
+ },
+ {
+ 25080000,
+ 0,
+ -0.40388,
+ 0,
+ },
+ {
+ 25100000,
+ 0,
+ -0.4061,
+ -0.00013049,
+ },
+ {
+ 25120000,
+ 0,
+ -0.40832,
+ 0,
+ },
+ {
+ 25140000,
+ -0.00013049,
+ -0.41093,
+ 0,
+ },
+ {
+ 25160000,
+ 0.00013049,
+ -0.41328,
+ -0.00013049,
+ },
+ {
+ 25180000,
+ 0,
+ -0.41537,
+ 0,
+ },
+ {
+ 25200000,
+ 0,
+ -0.41798,
+ 0,
+ },
+ {
+ 25220000,
+ 0.00026099,
+ -0.42019,
+ -0.00013049,
+ },
+ {
+ 25240000,
+ 0.00013049,
+ -0.42215,
+ 0,
+ },
+ {
+ 25260000,
+ -0.00013049,
+ -0.42437,
+ 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/gyro/include.h b/src/tests/catch/nas/data/gyro/include.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ababf3030cf227b80ac758ee7f993ca674074bc
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/include.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/gyro/input.h b/src/tests/catch/nas/data/gyro/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..e688f85afdadc594562817e21cc5304ba30e3edf
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/input.h
@@ -0,0 +1,2554 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState gyro_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {259999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {519999,
+ {0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {540000,
+ {0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {740000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {760000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {780000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {800000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68151, 0.29635, 0, 0, 0}},
+ {820000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {840000,
+ {0, 0, -160, 0, 0, 0, -0.61361, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {860000,
+ {0, 0, -160, 0, 0, 0, -0.61361, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {880000,
+ {0, 0, -160, 0, 0, 0, -0.6136, 0.26681, 0.68153, 0.29635, 0, 0, 0}},
+ {900000, {0, 0, -160, 0, 0, 0, -0.6136, 0.2668, 0.68153, 0.29635, 0, 0, 0}},
+ {920000,
+ {0, 0, -160, 0, 0, 0, -0.61359, 0.2668, 0.68154, 0.29636, 0, 0, 0}},
+ {940000,
+ {0, 0, -160, 0, 0, 0, -0.61358, 0.2668, 0.68155, 0.29636, 0, 0, 0}},
+ {960000,
+ {0, 0, -160, 0, 0, 0, -0.61356, 0.26679, 0.68156, 0.29637, 0, 0, 0}},
+ {980000,
+ {0, 0, -160, 0, 0, 0, -0.61355, 0.26678, 0.68158, 0.29637, 0, 0, 0}},
+ {1000000,
+ {0, 0, -160, 0, 0, 0, -0.61353, 0.26678, 0.68159, 0.29638, 0, 0, 0}},
+ {1020000,
+ {0, 0, -160, 0, 0, 0, -0.61351, 0.26676, 0.68161, 0.29639, 0, 0, 0}},
+ {1039999,
+ {0, 0, -160, 0, 0, 0, -0.61349, 0.26675, 0.68163, 0.2964, 0, 0, 0}},
+ {1060000,
+ {0, 0, -160, 0, 0, 0, -0.61346, 0.26674, 0.68166, 0.29641, 0, 0, 0}},
+ {1080000,
+ {0, 0, -160, 0, 0, 0, -0.61343, 0.26673, 0.68169, 0.29642, 0, 0, 0}},
+ {1100000,
+ {0, 0, -160, 0, 0, 0, -0.61339, 0.26671, 0.68172, 0.29644, 0, 0, 0}},
+ {1120000,
+ {0, 0, -160, 0, 0, 0, -0.61335, 0.2667, 0.68176, 0.29645, 0, 0, 0}},
+ {1140000,
+ {0, 0, -160, 0, 0, 0, -0.61331, 0.26668, 0.6818, 0.29647, 0, 0, 0}},
+ {1160000,
+ {0, 0, -160, 0, 0, 0, -0.61326, 0.26666, 0.68184, 0.29649, 0, 0, 0}},
+ {1180000,
+ {0, 0, -160, 0, 0, 0, -0.6132, 0.26663, 0.68189, 0.29651, 0, 0, 0}},
+ {1200000,
+ {0, 0, -160, 0, 0, 0, -0.61315, 0.26661, 0.68194, 0.29653, 0, 0, 0}},
+ {1220000,
+ {0, 0, -160, 0, 0, 0, -0.61308, 0.26658, 0.682, 0.29656, 0, 0, 0}},
+ {1240000,
+ {0, 0, -160, 0, 0, 0, -0.61301, 0.26655, 0.68206, 0.29659, 0, 0, 0}},
+ {1260000,
+ {0, 0, -160, 0, 0, 0, -0.61294, 0.26652, 0.68213, 0.29662, 0, 0, 0}},
+ {1280000,
+ {0, 0, -160, 0, 0, 0, -0.61286, 0.26648, 0.6822, 0.29665, 0, 0, 0}},
+ {1300000,
+ {0, 0, -160, 0, 0, 0, -0.61277, 0.26644, 0.68228, 0.29668, 0, 0, 0}},
+ {1320000,
+ {0, 0, -160, 0, 0, 0, -0.61268, 0.2664, 0.68236, 0.29672, 0, 0, 0}},
+ {1340000,
+ {0, 0, -160, 0, 0, 0, -0.61258, 0.26636, 0.68245, 0.29676, 0, 0, 0}},
+ {1360000,
+ {0, 0, -160, 0, 0, 0, -0.61247, 0.26631, 0.68255, 0.2968, 0, 0, 0}},
+ {1380000,
+ {0, 0, -160, 0, 0, 0, -0.61236, 0.26626, 0.68265, 0.29685, 0, 0, 0}},
+ {1400000,
+ {0, 0, -160, 0, 0, 0, -0.61224, 0.26621, 0.68275, 0.29689, 0, 0, 0}},
+ {1420000,
+ {0, 0, -160, 0, 0, 0, -0.61211, 0.26616, 0.68286, 0.29694, 0, 0, 0}},
+ {1440000,
+ {0, 0, -160, 0, 0, 0, -0.61198, 0.2661, 0.68298, 0.29699, 0, 0, 0}},
+ {1460000,
+ {0, 0, -160, 0, 0, 0, -0.61185, 0.26604, 0.6831, 0.29705, 0, 0, 0}},
+ {1480000,
+ {0, 0, -160, 0, 0, 0, -0.6117, 0.26598, 0.68323, 0.2971, 0, 0, 0}},
+ {1500000,
+ {0, 0, -160, 0, 0, 0, -0.61155, 0.26592, 0.68336, 0.29716, 0, 0, 0}},
+ {1520000,
+ {0, 0, -160, 0, 0, 0, -0.6114, 0.26585, 0.6835, 0.29722, 0, 0, 0}},
+ {1540000,
+ {0, 0, -160, 0, 0, 0, -0.61124, 0.26578, 0.68364, 0.29728, 0, 0, 0}},
+ {1560000,
+ {0, 0, -160, 0, 0, 0, -0.61107, 0.26571, 0.68379, 0.29735, 0, 0, 0}},
+ {1580000,
+ {0, 0, -160, 0, 0, 0, -0.6109, 0.26564, 0.68394, 0.29742, 0, 0, 0}},
+ {1600000,
+ {0, 0, -160, 0, 0, 0, -0.61073, 0.26556, 0.6841, 0.29749, 0, 0, 0}},
+ {1620000,
+ {0, 0, -160, 0, 0, 0, -0.61055, 0.26548, 0.68426, 0.29756, 0, 0, 0}},
+ {1640000,
+ {0, 0, -160, 0, 0, 0, -0.61037, 0.26541, 0.68442, 0.29763, 0, 0, 0}},
+ {1660000,
+ {0, 0, -160, 0, 0, 0, -0.61018, 0.26533, 0.68459, 0.2977, 0, 0, 0}},
+ {1680000,
+ {0, 0, -160, 0, 0, 0, -0.60999, 0.26525, 0.68475, 0.29777, 0, 0, 0}},
+ {1700000,
+ {0, 0, -160, 0, 0, 0, -0.6098, 0.26516, 0.68492, 0.29784, 0, 0, 0}},
+ {1720000,
+ {0, 0, -160, 0, 0, 0, -0.60961, 0.26508, 0.68509, 0.29792, 0, 0, 0}},
+ {1740000,
+ {0, 0, -160, 0, 0, 0, -0.60941, 0.26499, 0.68527, 0.29799, 0, 0, 0}},
+ {1760000,
+ {0, 0, -160, 0, 0, 0, -0.60922, 0.26491, 0.68544, 0.29807, 0, 0, 0}},
+ {1780000,
+ {0, 0, -160, 0, 0, 0, -0.60902, 0.26483, 0.68561, 0.29815, 0, 0, 0}},
+ {1800000,
+ {0, 0, -160, 0, 0, 0, -0.60883, 0.26474, 0.68579, 0.29822, 0, 0, 0}},
+ {1820000,
+ {0, 0, -160, 0, 0, 0, -0.60863, 0.26466, 0.68596, 0.2983, 0, 0, 0}},
+ {1840000,
+ {0, 0, -160, 0, 0, 0, -0.60844, 0.26457, 0.68613, 0.29837, 0, 0, 0}},
+ {1860000,
+ {0, 0, -160, 0, 0, 0, -0.60826, 0.26449, 0.6863, 0.29844, 0, 0, 0}},
+ {1880000,
+ {0, 0, -160, 0, 0, 0, -0.60807, 0.26441, 0.68646, 0.29851, 0, 0, 0}},
+ {1900000,
+ {0, 0, -160, 0, 0, 0, -0.60789, 0.26433, 0.68663, 0.29858, 0, 0, 0}},
+ {1920000,
+ {0, 0, -160, 0, 0, 0, -0.60771, 0.26425, 0.68678, 0.29865, 0, 0, 0}},
+ {1940000,
+ {0, 0, -160, 0, 0, 0, -0.60753, 0.26418, 0.68694, 0.29872, 0, 0, 0}},
+ {1960000,
+ {0, 0, -160, 0, 0, 0, -0.60737, 0.2641, 0.68709, 0.29878, 0, 0, 0}},
+ {1980000,
+ {0, 0, -160, 0, 0, 0, -0.60721, 0.26403, 0.68723, 0.29884, 0, 0, 0}},
+ {2000000,
+ {0, 0, -160, 0, 0, 0, -0.60705, 0.26397, 0.68736, 0.2989, 0, 0, 0}},
+ {2020000,
+ {0, 0, -160, 0, 0, 0, -0.6069, 0.26391, 0.68749, 0.29896, 0, 0, 0}},
+ {2040000,
+ {0, 0, -160, 0, 0, 0, -0.60676, 0.26385, 0.68762, 0.29901, 0, 0, 0}},
+ {2060000,
+ {0, 0, -160, 0, 0, 0, -0.60663, 0.26379, 0.68773, 0.29906, 0, 0, 0}},
+ {2079999,
+ {0, 0, -160, 0, 0, 0, -0.60651, 0.26374, 0.68784, 0.29911, 0, 0, 0}},
+ {2100000,
+ {0, 0, -160, 0, 0, 0, -0.6064, 0.26369, 0.68794, 0.29915, 0, 0, 0}},
+ {2120000,
+ {0, 0, -160, 0, 0, 0, -0.6063, 0.26364, 0.68803, 0.29919, 0, 0, 0}},
+ {2140000,
+ {0, 0, -160, 0, 0, 0, -0.60621, 0.2636, 0.68811, 0.29922, 0, 0, 0}},
+ {2160000,
+ {0, 0, -160, 0, 0, 0, -0.60612, 0.26357, 0.68818, 0.29925, 0, 0, 0}},
+ {2180000,
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+ {0, 0, -160, 0, 0, 0, -0.20962, 0.090671, 0.89279, 0.38827, 0, 0, 0}},
+ {24220000,
+ {0, 0, -160, 0, 0, 0, -0.20693, 0.0895, 0.89342, 0.38855, 0, 0, 0}},
+ {24240000,
+ {0, 0, -160, 0, 0, 0, -0.20422, 0.088321, 0.89404, 0.38882, 0, 0, 0}},
+ {24260000,
+ {0, 0, -160, 0, 0, 0, -0.20149, 0.08713, 0.89466, 0.38909, 0, 0, 0}},
+ {24280000,
+ {0, 0, -160, 0, 0, 0, -0.19874, 0.08593, 0.89528, 0.38935, 0, 0, 0}},
+ {24300000,
+ {0, 0, -160, 0, 0, 0, -0.19596, 0.084722, 0.89589, 0.38962, 0, 0, 0}},
+ {24320000,
+ {0, 0, -160, 0, 0, 0, -0.19316, 0.083503, 0.8965, 0.38988, 0, 0, 0}},
+ {24340000,
+ {0, 0, -160, 0, 0, 0, -0.19034, 0.082276, 0.8971, 0.39014, 0, 0, 0}},
+ {24360000,
+ {0, 0, -160, 0, 0, 0, -0.1875, 0.081039, 0.8977, 0.3904, 0, 0, 0}},
+ {24380000,
+ {0, 0, -160, 0, 0, 0, -0.18463, 0.079795, 0.89829, 0.39066, 0, 0, 0}},
+ {24400000,
+ {0, 0, -160, 0, 0, 0, -0.18175, 0.078539, 0.89888, 0.39091, 0, 0, 0}},
+ {24420000,
+ {0, 0, -160, 0, 0, 0, -0.17884, 0.077273, 0.89946, 0.39116, 0, 0, 0}},
+ {24440000,
+ {0, 0, -160, 0, 0, 0, -0.17591, 0.075998, 0.90004, 0.39141, 0, 0, 0}},
+ {24460000,
+ {0, 0, -160, 0, 0, 0, -0.17295, 0.074714, 0.90061, 0.39166, 0, 0, 0}},
+ {24480000,
+ {0, 0, -160, 0, 0, 0, -0.16998, 0.07342, 0.90118, 0.39191, 0, 0, 0}},
+ {24500000,
+ {0, 0, -160, 0, 0, 0, -0.16698, 0.072115, 0.90174, 0.39215, 0, 0, 0}},
+ {24520000,
+ {0, 0, -160, 0, 0, 0, -0.16396, 0.070799, 0.9023, 0.39239, 0, 0, 0}},
+ {24540000,
+ {0, 0, -160, 0, 0, 0, -0.16091, 0.069473, 0.90284, 0.39263, 0, 0, 0}},
+ {24560000,
+ {0, 0, -160, 0, 0, 0, -0.15784, 0.068137, 0.90338, 0.39286, 0, 0, 0}},
+ {24580000,
+ {0, 0, -160, 0, 0, 0, -0.15475, 0.066791, 0.90392, 0.39309, 0, 0, 0}},
+ {24600000,
+ {0, 0, -160, 0, 0, 0, -0.15164, 0.065437, 0.90445, 0.39332, 0, 0, 0}},
+ {24620000,
+ {0, 0, -160, 0, 0, 0, -0.1485, 0.064071, 0.90497, 0.39354, 0, 0, 0}},
+ {24640000,
+ {0, 0, -160, 0, 0, 0, -0.14534, 0.062697, 0.90548, 0.39377, 0, 0, 0}},
+ {24660000,
+ {0, 0, -160, 0, 0, 0, -0.14216, 0.061313, 0.90598, 0.39398, 0, 0, 0}},
+ {24680000,
+ {0, 0, -160, 0, 0, 0, -0.13895, 0.059916, 0.90648, 0.3942, 0, 0, 0}},
+ {24700000,
+ {0, 0, -160, 0, 0, 0, -0.13572, 0.058509, 0.90697, 0.39441, 0, 0, 0}},
+ {24720000,
+ {0, 0, -160, 0, 0, 0, -0.13247, 0.057092, 0.90745, 0.39461, 0, 0, 0}},
+ {24740000,
+ {0, 0, -160, 0, 0, 0, -0.12919, 0.055668, 0.90793, 0.39482, 0, 0, 0}},
+ {24760000,
+ {0, 0, -160, 0, 0, 0, -0.1259, 0.05423, 0.90839, 0.39502, 0, 0, 0}},
+ {24780000,
+ {0, 0, -160, 0, 0, 0, -0.12257, 0.052784, 0.90884, 0.39521, 0, 0, 0}},
+ {24800000,
+ {0, 0, -160, 0, 0, 0, -0.11923, 0.051328, 0.90929, 0.39541, 0, 0, 0}},
+ {24820000,
+ {0, 0, -160, 0, 0, 0, -0.11586, 0.049861, 0.90972, 0.3956, 0, 0, 0}},
+ {24840000,
+ {0, 0, -160, 0, 0, 0, -0.11247, 0.048385, 0.91015, 0.39578, 0, 0, 0}},
+ {24860000,
+ {0, 0, -160, 0, 0, 0, -0.10905, 0.046896, 0.91056, 0.39596, 0, 0, 0}},
+ {24880000,
+ {0, 0, -160, 0, 0, 0, -0.10561, 0.045398, 0.91097, 0.39614, 0, 0, 0}},
+ {24900000,
+ {0, 0, -160, 0, 0, 0, -0.10215, 0.043893, 0.91136, 0.39631, 0, 0, 0}},
+ {24920000,
+ {0, 0, -160, 0, 0, 0, -0.098664, 0.042377, 0.91175, 0.39647, 0, 0, 0}},
+ {24940000,
+ {0, 0, -160, 0, 0, 0, -0.095153, 0.040851, 0.91212, 0.39663, 0, 0, 0}},
+ {24960000,
+ {0, 0, -160, 0, 0, 0, -0.091619, 0.039316, 0.91248, 0.39679, 0, 0, 0}},
+ {24980000,
+ {0, 0, -160, 0, 0, 0, -0.088064, 0.037771, 0.91283, 0.39694, 0, 0, 0}},
+ {25000000,
+ {0, 0, -160, 0, 0, 0, -0.084486, 0.036213, 0.91317, 0.39708, 0, 0, 0}},
+ {25020000,
+ {0, 0, -160, 0, 0, 0, -0.080883, 0.034646, 0.91349, 0.39723, 0, 0, 0}},
+ {25040000,
+ {0, 0, -160, 0, 0, 0, -0.077259, 0.033068, 0.91381, 0.39736, 0, 0, 0}},
+ {25060000,
+ {0, 0, -160, 0, 0, 0, -0.073611, 0.03148, 0.91411, 0.39749, 0, 0, 0}},
+ {25080000,
+ {0, 0, -160, 0, 0, 0, -0.069941, 0.029883, 0.9144, 0.39761, 0, 0, 0}},
+ {25100000,
+ {0, 0, -160, 0, 0, 0, -0.066247, 0.028277, 0.91467, 0.39773, 0, 0, 0}},
+ {25120000,
+ {0, 0, -160, 0, 0, 0, -0.062532, 0.026661, 0.91493, 0.39784, 0, 0, 0}},
+ {25140000,
+ {0, 0, -160, 0, 0, 0, -0.058796, 0.025036, 0.91518, 0.39795, 0, 0, 0}},
+ {25160000,
+ {0, 0, -160, 0, 0, 0, -0.055035, 0.0234, 0.91541, 0.39805, 0, 0, 0}},
+ {25180000,
+ {0, 0, -160, 0, 0, 0, -0.051251, 0.021756, 0.91563, 0.39814, 0, 0, 0}},
+ {25200000,
+ {0, 0, -160, 0, 0, 0, -0.047447, 0.020102, 0.91584, 0.39823, 0, 0, 0}},
+ {25220000,
+ {0, 0, -160, 0, 0, 0, -0.043619, 0.018437, 0.91603, 0.39831, 0, 0, 0}},
+ {25240000,
+ {0, 0, -160, 0, 0, 0, -0.039769, 0.016766, 0.9162, 0.39838, 0, 0, 0}},
+ {25260000,
+ {0, 0, -160, 0, 0, 0, -0.0359, 0.015085, 0.91636, 0.39845, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/gyro/mag.h b/src/tests/catch/nas/data/gyro/mag.h
new file mode 100644
index 0000000000000000000000000000000000000000..c58b1616058b7f92457bc830deb63282c5c770d5
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/mag.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+MagnetometerData gyro_mag[] = {
+ {
+ 20000,
+ -373.52,
+ -193.14,
+ -146.16,
+ },
+ {
+ 40000,
+ -375.26,
+ -191.98,
+ -146.74,
+ },
+ {
+ 60000,
+ -374.1,
+ -193.14,
+ -145.58,
+ },
+ {
+ 80000,
+ -372.36,
+ -191.4,
+ -143.84,
+ },
+ {
+ 100000,
+ -372.94,
+ -191.98,
+ -140.94,
+ },
+ {
+ 120000,
+ -372.36,
+ -188.5,
+ -144.42,
+ },
+ {
+ 140000,
+ -374.68,
+ -187.92,
+ -145,
+ },
+ {
+ 160000,
+ -372.36,
+ -192.56,
+ -143.84,
+ },
+ {
+ 180000,
+ -374.68,
+ -192.56,
+ -143.26,
+ },
+ {
+ 200000,
+ -372.94,
+ -187.34,
+ -143.84,
+ },
+ {
+ 220000,
+ -375.84,
+ -192.56,
+ -143.26,
+ },
+ {
+ 240000,
+ -375.26,
+ -188.5,
+ -146.16,
+ },
+ {
+ 259999,
+ -377.58,
+ -190.82,
+ -146.16,
+ },
+ {
+ 280000,
+ -371.2,
+ -187.34,
+ -143.26,
+ },
+ {
+ 300000,
+ -374.68,
+ -193.14,
+ -145.58,
+ },
+ {
+ 320000,
+ -374.68,
+ -185.6,
+ -142.68,
+ },
+ {
+ 340000,
+ -374.1,
+ -188.5,
+ -143.84,
+ },
+ {
+ 360000,
+ -375.26,
+ -189.66,
+ -140.94,
+ },
+ {
+ 380000,
+ -374.68,
+ -191.98,
+ -145,
+ },
+ {
+ 400000,
+ -373.52,
+ -192.56,
+ -143.26,
+ },
+ {
+ 420000,
+ -372.94,
+ -191.4,
+ -140.36,
+ },
+ {
+ 440000,
+ -376.42,
+ -193.14,
+ -146.74,
+ },
+ {
+ 460000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 480000,
+ -373.52,
+ -190.24,
+ -143.26,
+ },
+ {
+ 500000,
+ -374.1,
+ -186.76,
+ -146.16,
+ },
+ {
+ 519999,
+ -371.2,
+ -187.34,
+ -145,
+ },
+ {
+ 540000,
+ -375.26,
+ -189.08,
+ -146.74,
+ },
+ {
+ 560000,
+ -375.26,
+ -186.18,
+ -145,
+ },
+ {
+ 580000,
+ -375.84,
+ -187.92,
+ -145.58,
+ },
+ {
+ 600000,
+ -372.36,
+ -190.24,
+ -145,
+ },
+ {
+ 620000,
+ -373.52,
+ -189.08,
+ -143.84,
+ },
+ {
+ 640000,
+ -372.94,
+ -186.18,
+ -146.16,
+ },
+ {
+ 660000,
+ -374.1,
+ -187.34,
+ -145,
+ },
+ {
+ 680000,
+ -373.52,
+ -187.34,
+ -142.1,
+ },
+ {
+ 700000,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 720000,
+ -369.46,
+ -189.08,
+ -145,
+ },
+ {
+ 740000,
+ -377,
+ -183.86,
+ -141.52,
+ },
+ {
+ 760000,
+ -378.16,
+ -187.92,
+ -144.42,
+ },
+ {
+ 780000,
+ -372.94,
+ -190.24,
+ -145,
+ },
+ {
+ 800000,
+ -375.26,
+ -190.82,
+ -145.58,
+ },
+ {
+ 820000,
+ -377.58,
+ -186.76,
+ -145,
+ },
+ {
+ 840000,
+ -375.84,
+ -191.98,
+ -145,
+ },
+ {
+ 860000,
+ -373.52,
+ -193.14,
+ -147.9,
+ },
+ {
+ 880000,
+ -372.94,
+ -188.5,
+ -142.68,
+ },
+ {
+ 900000,
+ -374.68,
+ -190.24,
+ -142.1,
+ },
+ {
+ 920000,
+ -372.36,
+ -193.14,
+ -147.32,
+ },
+ {
+ 940000,
+ -374.68,
+ -191.98,
+ -142.1,
+ },
+ {
+ 960000,
+ -376.42,
+ -187.92,
+ -142.1,
+ },
+ {
+ 980000,
+ -372.94,
+ -189.66,
+ -146.74,
+ },
+ {
+ 1000000,
+ -374.68,
+ -185.6,
+ -144.42,
+ },
+ {
+ 1020000,
+ -375.26,
+ -186.76,
+ -142.68,
+ },
+ {
+ 1039999,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 1060000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1080000,
+ -374.1,
+ -186.18,
+ -144.42,
+ },
+ {
+ 1100000,
+ -372.36,
+ -189.08,
+ -146.16,
+ },
+ {
+ 1120000,
+ -371.78,
+ -189.66,
+ -143.26,
+ },
+ {
+ 1140000,
+ -377,
+ -190.82,
+ -147.9,
+ },
+ {
+ 1160000,
+ -377.58,
+ -190.82,
+ -145,
+ },
+ {
+ 1180000,
+ -374.68,
+ -190.82,
+ -145,
+ },
+ {
+ 1200000,
+ -374.68,
+ -190.24,
+ -143.26,
+ },
+ {
+ 1220000,
+ -375.26,
+ -189.08,
+ -143.84,
+ },
+ {
+ 1240000,
+ -373.52,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1260000,
+ -371.78,
+ -187.92,
+ -146.16,
+ },
+ {
+ 1280000,
+ -374.68,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1300000,
+ -371.78,
+ -188.5,
+ -142.68,
+ },
+ {
+ 1320000,
+ -374.1,
+ -190.24,
+ -145,
+ },
+ {
+ 1340000,
+ -377.58,
+ -191.4,
+ -143.26,
+ },
+ {
+ 1360000,
+ -372.94,
+ -190.24,
+ -143.84,
+ },
+ {
+ 1380000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 1400000,
+ -374.1,
+ -191.98,
+ -142.68,
+ },
+ {
+ 1420000,
+ -376.42,
+ -192.56,
+ -142.68,
+ },
+ {
+ 1440000,
+ -377.58,
+ -191.98,
+ -139.2,
+ },
+ {
+ 1460000,
+ -378.16,
+ -191.98,
+ -145,
+ },
+ {
+ 1480000,
+ -371.2,
+ -190.82,
+ -140.36,
+ },
+ {
+ 1500000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1520000,
+ -374.1,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1540000,
+ -377,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1560000,
+ -373.52,
+ -190.82,
+ -139.2,
+ },
+ {
+ 1580000,
+ -374.68,
+ -188.5,
+ -140.36,
+ },
+ {
+ 1600000,
+ -374.1,
+ -191.4,
+ -142.1,
+ },
+ {
+ 1620000,
+ -375.26,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1640000,
+ -374.68,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1660000,
+ -374.1,
+ -189.66,
+ -139.78,
+ },
+ {
+ 1680000,
+ -376.42,
+ -189.08,
+ -140.94,
+ },
+ {
+ 1700000,
+ -372.36,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1720000,
+ -375.26,
+ -189.66,
+ -136.3,
+ },
+ {
+ 1740000,
+ -377,
+ -189.66,
+ -142.1,
+ },
+ {
+ 1760000,
+ -377,
+ -190.24,
+ -140.94,
+ },
+ {
+ 1780000,
+ -379.9,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1800000,
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+ -140.36,
+ },
+ {
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+ -137.46,
+ },
+ {
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+ -378.16,
+ -189.08,
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+ },
+ {
+ 1860000,
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+ },
+ {
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+ },
+ {
+ 1900000,
+ -377,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1920000,
+ -377,
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+ },
+ {
+ 1940000,
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+ -135.14,
+ },
+ {
+ 1960000,
+ -380.48,
+ -188.5,
+ -142.1,
+ },
+ {
+ 1980000,
+ -375.26,
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+ -138.62,
+ },
+ {
+ 2000000,
+ -371.78,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 2100000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 2200000,
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+ },
+ {
+ 2220000,
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
+ 2300000,
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+ },
+ {
+ 2320000,
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+ },
+ {
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+ },
+ {
+ 2360000,
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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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+ },
+ {
+ 2500000,
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+ },
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diff --git a/src/tests/catch/nas/data/gyro/output.h b/src/tests/catch/nas/data/gyro/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..e4a9ebf3a5a31705f599220a1020e2fddf78b59f
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/output.h
@@ -0,0 +1,2554 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState gyro_output[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {259999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0, 0, 0}},
+ {500000,
+ {0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {519999,
+ {0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0, 0, 0}},
+ {640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {740000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68151, 0.29634, 0, 0, 0}},
+ {760000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68151, 0.29634, 0, 0, 0}},
+ {780000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68151, 0.29635, 0, 0, 0}},
+ {800000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {820000,
+ {0, 0, -160, 0, 0, 0, -0.61361, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {840000,
+ {0, 0, -160, 0, 0, 0, -0.61361, 0.26681, 0.68152, 0.29635, 0, 0, 0}},
+ {860000,
+ {0, 0, -160, 0, 0, 0, -0.6136, 0.26681, 0.68153, 0.29635, 0, 0, 0}},
+ {880000, {0, 0, -160, 0, 0, 0, -0.6136, 0.2668, 0.68153, 0.29635, 0, 0, 0}},
+ {900000,
+ {0, 0, -160, 0, 0, 0, -0.61359, 0.2668, 0.68154, 0.29636, 0, 0, 0}},
+ {920000,
+ {0, 0, -160, 0, 0, 0, -0.61358, 0.2668, 0.68155, 0.29636, 0, 0, 0}},
+ {940000,
+ {0, 0, -160, 0, 0, 0, -0.61356, 0.26679, 0.68156, 0.29637, 0, 0, 0}},
+ {960000,
+ {0, 0, -160, 0, 0, 0, -0.61355, 0.26678, 0.68158, 0.29637, 0, 0, 0}},
+ {980000,
+ {0, 0, -160, 0, 0, 0, -0.61353, 0.26678, 0.68159, 0.29638, 0, 0, 0}},
+ {1000000,
+ {0, 0, -160, 0, 0, 0, -0.61351, 0.26676, 0.68161, 0.29639, 0, 0, 0}},
+ {1020000,
+ {0, 0, -160, 0, 0, 0, -0.61349, 0.26675, 0.68163, 0.2964, 0, 0, 0}},
+ {1039999,
+ {0, 0, -160, 0, 0, 0, -0.61346, 0.26674, 0.68166, 0.29641, 0, 0, 0}},
+ {1060000,
+ {0, 0, -160, 0, 0, 0, -0.61343, 0.26673, 0.68169, 0.29642, 0, 0, 0}},
+ {1080000,
+ {0, 0, -160, 0, 0, 0, -0.61339, 0.26671, 0.68172, 0.29644, 0, 0, 0}},
+ {1100000,
+ {0, 0, -160, 0, 0, 0, -0.61335, 0.2667, 0.68176, 0.29645, 0, 0, 0}},
+ {1120000,
+ {0, 0, -160, 0, 0, 0, -0.61331, 0.26668, 0.6818, 0.29647, 0, 0, 0}},
+ {1140000,
+ {0, 0, -160, 0, 0, 0, -0.61326, 0.26666, 0.68184, 0.29649, 0, 0, 0}},
+ {1160000,
+ {0, 0, -160, 0, 0, 0, -0.6132, 0.26663, 0.68189, 0.29651, 0, 0, 0}},
+ {1180000,
+ {0, 0, -160, 0, 0, 0, -0.61315, 0.26661, 0.68194, 0.29653, 0, 0, 0}},
+ {1200000,
+ {0, 0, -160, 0, 0, 0, -0.61308, 0.26658, 0.682, 0.29656, 0, 0, 0}},
+ {1220000,
+ {0, 0, -160, 0, 0, 0, -0.61301, 0.26655, 0.68206, 0.29659, 0, 0, 0}},
+ {1240000,
+ {0, 0, -160, 0, 0, 0, -0.61294, 0.26652, 0.68213, 0.29662, 0, 0, 0}},
+ {1260000,
+ {0, 0, -160, 0, 0, 0, -0.61286, 0.26648, 0.6822, 0.29665, 0, 0, 0}},
+ {1280000,
+ {0, 0, -160, 0, 0, 0, -0.61277, 0.26644, 0.68228, 0.29668, 0, 0, 0}},
+ {1300000,
+ {0, 0, -160, 0, 0, 0, -0.61268, 0.2664, 0.68236, 0.29672, 0, 0, 0}},
+ {1320000,
+ {0, 0, -160, 0, 0, 0, -0.61258, 0.26636, 0.68245, 0.29676, 0, 0, 0}},
+ {1340000,
+ {0, 0, -160, 0, 0, 0, -0.61247, 0.26631, 0.68255, 0.2968, 0, 0, 0}},
+ {1360000,
+ {0, 0, -160, 0, 0, 0, -0.61236, 0.26626, 0.68265, 0.29685, 0, 0, 0}},
+ {1380000,
+ {0, 0, -160, 0, 0, 0, -0.61224, 0.26621, 0.68275, 0.29689, 0, 0, 0}},
+ {1400000,
+ {0, 0, -160, 0, 0, 0, -0.61211, 0.26616, 0.68286, 0.29694, 0, 0, 0}},
+ {1420000,
+ {0, 0, -160, 0, 0, 0, -0.61198, 0.2661, 0.68298, 0.29699, 0, 0, 0}},
+ {1440000,
+ {0, 0, -160, 0, 0, 0, -0.61185, 0.26604, 0.6831, 0.29705, 0, 0, 0}},
+ {1460000,
+ {0, 0, -160, 0, 0, 0, -0.6117, 0.26598, 0.68323, 0.2971, 0, 0, 0}},
+ {1480000,
+ {0, 0, -160, 0, 0, 0, -0.61155, 0.26592, 0.68336, 0.29716, 0, 0, 0}},
+ {1500000,
+ {0, 0, -160, 0, 0, 0, -0.6114, 0.26585, 0.6835, 0.29722, 0, 0, 0}},
+ {1520000,
+ {0, 0, -160, 0, 0, 0, -0.61124, 0.26578, 0.68364, 0.29728, 0, 0, 0}},
+ {1540000,
+ {0, 0, -160, 0, 0, 0, -0.61107, 0.26571, 0.68379, 0.29735, 0, 0, 0}},
+ {1560000,
+ {0, 0, -160, 0, 0, 0, -0.6109, 0.26564, 0.68394, 0.29742, 0, 0, 0}},
+ {1580000,
+ {0, 0, -160, 0, 0, 0, -0.61073, 0.26556, 0.6841, 0.29749, 0, 0, 0}},
+ {1600000,
+ {0, 0, -160, 0, 0, 0, -0.61055, 0.26548, 0.68426, 0.29756, 0, 0, 0}},
+ {1620000,
+ {0, 0, -160, 0, 0, 0, -0.61037, 0.26541, 0.68442, 0.29763, 0, 0, 0}},
+ {1640000,
+ {0, 0, -160, 0, 0, 0, -0.61018, 0.26533, 0.68459, 0.2977, 0, 0, 0}},
+ {1660000,
+ {0, 0, -160, 0, 0, 0, -0.60999, 0.26525, 0.68475, 0.29777, 0, 0, 0}},
+ {1680000,
+ {0, 0, -160, 0, 0, 0, -0.6098, 0.26516, 0.68492, 0.29784, 0, 0, 0}},
+ {1700000,
+ {0, 0, -160, 0, 0, 0, -0.60961, 0.26508, 0.68509, 0.29792, 0, 0, 0}},
+ {1720000,
+ {0, 0, -160, 0, 0, 0, -0.60941, 0.26499, 0.68527, 0.29799, 0, 0, 0}},
+ {1740000,
+ {0, 0, -160, 0, 0, 0, -0.60922, 0.26491, 0.68544, 0.29807, 0, 0, 0}},
+ {1760000,
+ {0, 0, -160, 0, 0, 0, -0.60902, 0.26483, 0.68561, 0.29815, 0, 0, 0}},
+ {1780000,
+ {0, 0, -160, 0, 0, 0, -0.60883, 0.26474, 0.68579, 0.29822, 0, 0, 0}},
+ {1800000,
+ {0, 0, -160, 0, 0, 0, -0.60863, 0.26466, 0.68596, 0.2983, 0, 0, 0}},
+ {1820000,
+ {0, 0, -160, 0, 0, 0, -0.60844, 0.26457, 0.68613, 0.29837, 0, 0, 0}},
+ {1840000,
+ {0, 0, -160, 0, 0, 0, -0.60826, 0.26449, 0.6863, 0.29844, 0, 0, 0}},
+ {1860000,
+ {0, 0, -160, 0, 0, 0, -0.60807, 0.26441, 0.68646, 0.29851, 0, 0, 0}},
+ {1880000,
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+ {0, 0, -160, 0, 0, 0, -0.24511, 0.10611, 0.88371, 0.38434, 0, 0, 0}},
+ {23920000,
+ {0, 0, -160, 0, 0, 0, -0.24271, 0.10507, 0.88437, 0.38463, 0, 0, 0}},
+ {23940000,
+ {0, 0, -160, 0, 0, 0, -0.24028, 0.10401, 0.88504, 0.38491, 0, 0, 0}},
+ {23960000,
+ {0, 0, -160, 0, 0, 0, -0.23783, 0.10295, 0.8857, 0.3852, 0, 0, 0}},
+ {23980000,
+ {0, 0, -160, 0, 0, 0, -0.23537, 0.10188, 0.88635, 0.38549, 0, 0, 0}},
+ {24000000,
+ {0, 0, -160, 0, 0, 0, -0.23289, 0.1008, 0.88701, 0.38577, 0, 0, 0}},
+ {24020000,
+ {0, 0, -160, 0, 0, 0, -0.23038, 0.099706, 0.88766, 0.38605, 0, 0, 0}},
+ {24040000,
+ {0, 0, -160, 0, 0, 0, -0.22786, 0.098611, 0.88831, 0.38633, 0, 0, 0}},
+ {24060000,
+ {0, 0, -160, 0, 0, 0, -0.22531, 0.097502, 0.88896, 0.38662, 0, 0, 0}},
+ {24080000,
+ {0, 0, -160, 0, 0, 0, -0.22275, 0.096387, 0.88961, 0.3869, 0, 0, 0}},
+ {24100000,
+ {0, 0, -160, 0, 0, 0, -0.22016, 0.095262, 0.89025, 0.38717, 0, 0, 0}},
+ {24120000,
+ {0, 0, -160, 0, 0, 0, -0.21756, 0.094128, 0.89089, 0.38745, 0, 0, 0}},
+ {24140000,
+ {0, 0, -160, 0, 0, 0, -0.21493, 0.092983, 0.89153, 0.38773, 0, 0, 0}},
+ {24160000,
+ {0, 0, -160, 0, 0, 0, -0.21229, 0.091832, 0.89216, 0.388, 0, 0, 0}},
+ {24180000,
+ {0, 0, -160, 0, 0, 0, -0.20962, 0.090671, 0.89279, 0.38827, 0, 0, 0}},
+ {24200000,
+ {0, 0, -160, 0, 0, 0, -0.20693, 0.0895, 0.89342, 0.38855, 0, 0, 0}},
+ {24220000,
+ {0, 0, -160, 0, 0, 0, -0.20422, 0.088321, 0.89404, 0.38882, 0, 0, 0}},
+ {24240000,
+ {0, 0, -160, 0, 0, 0, -0.20149, 0.08713, 0.89466, 0.38909, 0, 0, 0}},
+ {24260000,
+ {0, 0, -160, 0, 0, 0, -0.19874, 0.08593, 0.89528, 0.38935, 0, 0, 0}},
+ {24280000,
+ {0, 0, -160, 0, 0, 0, -0.19596, 0.084722, 0.89589, 0.38962, 0, 0, 0}},
+ {24300000,
+ {0, 0, -160, 0, 0, 0, -0.19316, 0.083503, 0.8965, 0.38988, 0, 0, 0}},
+ {24320000,
+ {0, 0, -160, 0, 0, 0, -0.19034, 0.082276, 0.8971, 0.39014, 0, 0, 0}},
+ {24340000,
+ {0, 0, -160, 0, 0, 0, -0.1875, 0.081039, 0.8977, 0.3904, 0, 0, 0}},
+ {24360000,
+ {0, 0, -160, 0, 0, 0, -0.18463, 0.079795, 0.89829, 0.39066, 0, 0, 0}},
+ {24380000,
+ {0, 0, -160, 0, 0, 0, -0.18175, 0.078539, 0.89888, 0.39091, 0, 0, 0}},
+ {24400000,
+ {0, 0, -160, 0, 0, 0, -0.17884, 0.077273, 0.89946, 0.39116, 0, 0, 0}},
+ {24420000,
+ {0, 0, -160, 0, 0, 0, -0.17591, 0.075998, 0.90004, 0.39141, 0, 0, 0}},
+ {24440000,
+ {0, 0, -160, 0, 0, 0, -0.17295, 0.074714, 0.90061, 0.39166, 0, 0, 0}},
+ {24460000,
+ {0, 0, -160, 0, 0, 0, -0.16998, 0.07342, 0.90118, 0.39191, 0, 0, 0}},
+ {24480000,
+ {0, 0, -160, 0, 0, 0, -0.16698, 0.072115, 0.90174, 0.39215, 0, 0, 0}},
+ {24500000,
+ {0, 0, -160, 0, 0, 0, -0.16396, 0.070799, 0.9023, 0.39239, 0, 0, 0}},
+ {24520000,
+ {0, 0, -160, 0, 0, 0, -0.16091, 0.069473, 0.90284, 0.39263, 0, 0, 0}},
+ {24540000,
+ {0, 0, -160, 0, 0, 0, -0.15784, 0.068137, 0.90338, 0.39286, 0, 0, 0}},
+ {24560000,
+ {0, 0, -160, 0, 0, 0, -0.15475, 0.066791, 0.90392, 0.39309, 0, 0, 0}},
+ {24580000,
+ {0, 0, -160, 0, 0, 0, -0.15164, 0.065437, 0.90445, 0.39332, 0, 0, 0}},
+ {24600000,
+ {0, 0, -160, 0, 0, 0, -0.1485, 0.064071, 0.90497, 0.39354, 0, 0, 0}},
+ {24620000,
+ {0, 0, -160, 0, 0, 0, -0.14534, 0.062697, 0.90548, 0.39377, 0, 0, 0}},
+ {24640000,
+ {0, 0, -160, 0, 0, 0, -0.14216, 0.061313, 0.90598, 0.39398, 0, 0, 0}},
+ {24660000,
+ {0, 0, -160, 0, 0, 0, -0.13895, 0.059916, 0.90648, 0.3942, 0, 0, 0}},
+ {24680000,
+ {0, 0, -160, 0, 0, 0, -0.13572, 0.058509, 0.90697, 0.39441, 0, 0, 0}},
+ {24700000,
+ {0, 0, -160, 0, 0, 0, -0.13247, 0.057092, 0.90745, 0.39461, 0, 0, 0}},
+ {24720000,
+ {0, 0, -160, 0, 0, 0, -0.12919, 0.055668, 0.90793, 0.39482, 0, 0, 0}},
+ {24740000,
+ {0, 0, -160, 0, 0, 0, -0.1259, 0.05423, 0.90839, 0.39502, 0, 0, 0}},
+ {24760000,
+ {0, 0, -160, 0, 0, 0, -0.12257, 0.052784, 0.90884, 0.39521, 0, 0, 0}},
+ {24780000,
+ {0, 0, -160, 0, 0, 0, -0.11923, 0.051328, 0.90929, 0.39541, 0, 0, 0}},
+ {24800000,
+ {0, 0, -160, 0, 0, 0, -0.11586, 0.049861, 0.90972, 0.3956, 0, 0, 0}},
+ {24820000,
+ {0, 0, -160, 0, 0, 0, -0.11247, 0.048385, 0.91015, 0.39578, 0, 0, 0}},
+ {24840000,
+ {0, 0, -160, 0, 0, 0, -0.10905, 0.046896, 0.91056, 0.39596, 0, 0, 0}},
+ {24860000,
+ {0, 0, -160, 0, 0, 0, -0.10561, 0.045398, 0.91097, 0.39614, 0, 0, 0}},
+ {24880000,
+ {0, 0, -160, 0, 0, 0, -0.10215, 0.043893, 0.91136, 0.39631, 0, 0, 0}},
+ {24900000,
+ {0, 0, -160, 0, 0, 0, -0.098664, 0.042377, 0.91175, 0.39647, 0, 0, 0}},
+ {24920000,
+ {0, 0, -160, 0, 0, 0, -0.095153, 0.040851, 0.91212, 0.39663, 0, 0, 0}},
+ {24940000,
+ {0, 0, -160, 0, 0, 0, -0.091619, 0.039316, 0.91248, 0.39679, 0, 0, 0}},
+ {24960000,
+ {0, 0, -160, 0, 0, 0, -0.088064, 0.037771, 0.91283, 0.39694, 0, 0, 0}},
+ {24980000,
+ {0, 0, -160, 0, 0, 0, -0.084486, 0.036213, 0.91317, 0.39708, 0, 0, 0}},
+ {25000000,
+ {0, 0, -160, 0, 0, 0, -0.080883, 0.034646, 0.91349, 0.39723, 0, 0, 0}},
+ {25020000,
+ {0, 0, -160, 0, 0, 0, -0.077259, 0.033068, 0.91381, 0.39736, 0, 0, 0}},
+ {25040000,
+ {0, 0, -160, 0, 0, 0, -0.073611, 0.03148, 0.91411, 0.39749, 0, 0, 0}},
+ {25060000,
+ {0, 0, -160, 0, 0, 0, -0.069941, 0.029883, 0.9144, 0.39761, 0, 0, 0}},
+ {25080000,
+ {0, 0, -160, 0, 0, 0, -0.066247, 0.028277, 0.91467, 0.39773, 0, 0, 0}},
+ {25100000,
+ {0, 0, -160, 0, 0, 0, -0.062532, 0.026661, 0.91493, 0.39784, 0, 0, 0}},
+ {25120000,
+ {0, 0, -160, 0, 0, 0, -0.058796, 0.025036, 0.91518, 0.39795, 0, 0, 0}},
+ {25140000,
+ {0, 0, -160, 0, 0, 0, -0.055035, 0.0234, 0.91541, 0.39805, 0, 0, 0}},
+ {25160000,
+ {0, 0, -160, 0, 0, 0, -0.051251, 0.021756, 0.91563, 0.39814, 0, 0, 0}},
+ {25180000,
+ {0, 0, -160, 0, 0, 0, -0.047447, 0.020102, 0.91584, 0.39823, 0, 0, 0}},
+ {25200000,
+ {0, 0, -160, 0, 0, 0, -0.043619, 0.018437, 0.91603, 0.39831, 0, 0, 0}},
+ {25220000,
+ {0, 0, -160, 0, 0, 0, -0.039769, 0.016766, 0.9162, 0.39838, 0, 0, 0}},
+ {25240000,
+ {0, 0, -160, 0, 0, 0, -0.0359, 0.015085, 0.91636, 0.39845, 0, 0, 0}},
+ {25260000,
+ {0, 0, -160, 0, 0, 0, -0.032012, 0.013393, 0.91651, 0.39851, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/gyro/pitot.h b/src/tests/catch/nas/data/gyro/pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..0f2ce392b7030f1c310f9c5b0a96bf6c07063ca8
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/pitot.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PitotData gyro_pitot[] = {
+ {
+ 20000,
+ 0,
+ },
+ {
+ 40000,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ },
+ {
+ 80000,
+ 0,
+ },
+ {
+ 100000,
+ 0,
+ },
+ {
+ 120000,
+ 0,
+ },
+ {
+ 140000,
+ 0,
+ },
+ {
+ 160000,
+ 6.4819,
+ },
+ {
+ 180000,
+ 6.4819,
+ },
+ {
+ 200000,
+ 0,
+ },
+ {
+ 220000,
+ 0,
+ },
+ {
+ 240000,
+ 0,
+ },
+ {
+ 259999,
+ 6.4819,
+ },
+ {
+ 280000,
+ 6.4819,
+ },
+ {
+ 300000,
+ 11.2259,
+ },
+ {
+ 320000,
+ 11.2259,
+ },
+ {
+ 340000,
+ 11.2259,
+ },
+ {
+ 360000,
+ 12.9636,
+ },
+ {
+ 380000,
+ 12.9636,
+ },
+ {
+ 400000,
+ 17.1491,
+ },
+ {
+ 420000,
+ 17.1491,
+ },
+ {
+ 440000,
+ 17.1491,
+ },
+ {
+ 460000,
+ 19.4435,
+ },
+ {
+ 480000,
+ 19.4435,
+ },
+ {
+ 500000,
+ 20.4917,
+ },
+ {
+ 519999,
+ 20.4917,
+ },
+ {
+ 540000,
+ 20.4917,
+ },
+ {
+ 560000,
+ 25.0947,
+ },
+ {
+ 580000,
+ 25.0947,
+ },
+ {
+ 600000,
+ 25.0947,
+ },
+ {
+ 620000,
+ 25.0947,
+ },
+ {
+ 640000,
+ 25.0947,
+ },
+ {
+ 660000,
+ 30.3854,
+ },
+ {
+ 680000,
+ 30.3854,
+ },
+ {
+ 700000,
+ 31.0629,
+ },
+ {
+ 720000,
+ 31.0629,
+ },
+ {
+ 740000,
+ 31.0629,
+ },
+ {
+ 760000,
+ 35.4786,
+ },
+ {
+ 780000,
+ 35.4786,
+ },
+ {
+ 800000,
+ 37.21,
+ },
+ {
+ 820000,
+ 37.21,
+ },
+ {
+ 840000,
+ 37.21,
+ },
+ {
+ 860000,
+ 40.9591,
+ },
+ {
+ 880000,
+ 40.9591,
+ },
+ {
+ 900000,
+ 42.467,
+ },
+ {
+ 920000,
+ 42.467,
+ },
+ {
+ 940000,
+ 42.467,
+ },
+ {
+ 960000,
+ 43.9119,
+ },
+ {
+ 980000,
+ 43.9119,
+ },
+ {
+ 1000000,
+ 48.0146,
+ },
+ {
+ 1020000,
+ 48.0146,
+ },
+ {
+ 1039999,
+ 48.0146,
+ },
+ {
+ 1060000,
+ 49.7211,
+ },
+ {
+ 1080000,
+ 49.7211,
+ },
+ {
+ 1100000,
+ 54.1519,
+ },
+ {
+ 1120000,
+ 54.1519,
+ },
+ {
+ 1140000,
+ 54.1519,
+ },
+ {
+ 1160000,
+ 54.528,
+ },
+ {
+ 1180000,
+ 54.528,
+ },
+ {
+ 1200000,
+ 58.5933,
+ },
+ {
+ 1220000,
+ 58.5933,
+ },
+ {
+ 1240000,
+ 58.5933,
+ },
+ {
+ 1260000,
+ 60.3474,
+ },
+ {
+ 1280000,
+ 60.3474,
+ },
+ {
+ 1300000,
+ 63.6928,
+ },
+ {
+ 1320000,
+ 63.6928,
+ },
+ {
+ 1340000,
+ 63.6928,
+ },
+ {
+ 1360000,
+ 66.8825,
+ },
+ {
+ 1380000,
+ 66.8825,
+ },
+ {
+ 1400000,
+ 68.7311,
+ },
+ {
+ 1420000,
+ 68.7311,
+ },
+ {
+ 1440000,
+ 68.7311,
+ },
+ {
+ 1460000,
+ 72.5625,
+ },
+ {
+ 1480000,
+ 72.5625,
+ },
+ {
+ 1500000,
+ 74.5183,
+ },
+ {
+ 1520000,
+ 74.5183,
+ },
+ {
+ 1540000,
+ 74.5183,
+ },
+ {
+ 1560000,
+ 77.8053,
+ },
+ {
+ 1580000,
+ 77.8053,
+ },
+ {
+ 1600000,
+ 80.6734,
+ },
+ {
+ 1620000,
+ 80.6734,
+ },
+ {
+ 1640000,
+ 80.6734,
+ },
+ {
+ 1660000,
+ 83.9298,
+ },
+ {
+ 1680000,
+ 83.9298,
+ },
+ {
+ 1700000,
+ 86.6089,
+ },
+ {
+ 1720000,
+ 86.6089,
+ },
+ {
+ 1740000,
+ 86.6089,
+ },
+ {
+ 1760000,
+ 88.9653,
+ },
+ {
+ 1780000,
+ 88.9653,
+ },
+ {
+ 1800000,
+ 92.5937,
+ },
+ {
+ 1820000,
+ 92.5937,
+ },
+ {
+ 1840000,
+ 92.5937,
+ },
+ {
+ 1860000,
+ 94.5692,
+ },
+ {
+ 1880000,
+ 94.5692,
+ },
+ {
+ 1900000,
+ 98.4202,
+ },
+ {
+ 1920000,
+ 98.4202,
+ },
+ {
+ 1940000,
+ 98.4202,
+ },
+ {
+ 1960000,
+ 100.8952,
+ },
+ {
+ 1980000,
+ 100.8952,
+ },
+ {
+ 2000000,
+ 104.2989,
+ },
+ {
+ 2020000,
+ 104.2989,
+ },
+ {
+ 2040000,
+ 104.2989,
+ },
+ {
+ 2060000,
+ 107.2133,
+ },
+ {
+ 2079999,
+ 107.2133,
+ },
+ {
+ 2100000,
+ 109.85,
+ },
+ {
+ 2120000,
+ 109.85,
+ },
+ {
+ 2140000,
+ 109.85,
+ },
+ {
+ 2160000,
+ 112.5865,
+ },
+ {
+ 2180000,
+ 112.5865,
+ },
+ {
+ 2200000,
+ 115.6301,
+ },
+ {
+ 2220000,
+ 115.6301,
+ },
+ {
+ 2240000,
+ 115.6301,
+ },
+ {
+ 2260000,
+ 118.7458,
+ },
+ {
+ 2280000,
+ 118.7458,
+ },
+ {
+ 2300000,
+ 121.8062,
+ },
+ {
+ 2320000,
+ 121.8062,
+ },
+ {
+ 2340000,
+ 121.8062,
+ },
+ {
+ 2360000,
+ 124.4366,
+ },
+ {
+ 2380000,
+ 124.4366,
+ },
+ {
+ 2400000,
+ 127.6663,
+ },
+ {
+ 2420000,
+ 127.6663,
+ },
+ {
+ 2440000,
+ 127.6663,
+ },
+ {
+ 2460000,
+ 130.5076,
+ },
+ {
+ 2480000,
+ 130.5076,
+ },
+ {
+ 2500000,
+ 132.921,
+ },
+ {
+ 2520000,
+ 132.921,
+ },
+ {
+ 2540000,
+ 132.921,
+ },
+ {
+ 2560000,
+ 136.0989,
+ },
+ {
+ 2580000,
+ 136.0989,
+ },
+ {
+ 2600000,
+ 138.723,
+ },
+ {
+ 2620000,
+ 138.723,
+ },
+ {
+ 2640000,
+ 138.723,
+ },
+ {
+ 2660000,
+ 142.0061,
+ },
+ {
+ 2680000,
+ 142.0061,
+ },
+ {
+ 2700000,
+ 145.2437,
+ },
+ {
+ 2720000,
+ 145.2437,
+ },
+ {
+ 2740000,
+ 145.2437,
+ },
+ {
+ 2760000,
+ 147.841,
+ },
+ {
+ 2780000,
+ 147.841,
+ },
+ {
+ 2800000,
+ 150.3895,
+ },
+ {
+ 2820000,
+ 150.3895,
+ },
+ {
+ 2840000,
+ 150.3895,
+ },
+ {
+ 2860000,
+ 153.4005,
+ },
+ {
+ 2880000,
+ 153.4005,
+ },
+ {
+ 2900000,
+ 156.3471,
+ },
+ {
+ 2920000,
+ 156.3471,
+ },
+ {
+ 2940000,
+ 156.3471,
+ },
+ {
+ 2960000,
+ 159.7578,
+ },
+ {
+ 2980000,
+ 159.7578,
+ },
+ {
+ 3000000,
+ 162.2,
+ },
+ {
+ 3020000,
+ 162.2,
+ },
+ {
+ 3040000,
+ 162.2,
+ },
+ {
+ 3060000,
+ 165.2456,
+ },
+ {
+ 3080000,
+ 165.2456,
+ },
+ {
+ 3100000,
+ 167.8267,
+ },
+ {
+ 3120000,
+ 167.8267,
+ },
+ {
+ 3140000,
+ 167.8267,
+ },
+ {
+ 3160000,
+ 170.8531,
+ },
+ {
+ 3180000,
+ 170.8531,
+ },
+ {
+ 3200000,
+ 173.7322,
+ },
+ {
+ 3220000,
+ 173.7322,
+ },
+ {
+ 3240000,
+ 173.7322,
+ },
+ {
+ 3260000,
+ 176.7322,
+ },
+ {
+ 3280000,
+ 176.7322,
+ },
+ {
+ 3300000,
+ 179.7184,
+ },
+ {
+ 3320000,
+ 179.7184,
+ },
+ {
+ 3340000,
+ 179.7184,
+ },
+ {
+ 3360000,
+ 182.5247,
+ },
+ {
+ 3380000,
+ 182.5247,
+ },
+ {
+ 3400000,
+ 185.3619,
+ },
+ {
+ 3420000,
+ 185.3619,
+ },
+ {
+ 3440000,
+ 185.3619,
+ },
+ {
+ 3460000,
+ 188.5172,
+ },
+ {
+ 3480000,
+ 188.5172,
+ },
+ {
+ 3500000,
+ 191.1774,
+ },
+ {
+ 3520000,
+ 191.1774,
+ },
+ {
+ 3540000,
+ 191.1774,
+ },
+ {
+ 3560000,
+ 194.3005,
+ },
+ {
+ 3580000,
+ 194.3005,
+ },
+ {
+ 3600000,
+ 196.516,
+ },
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diff --git a/src/tests/catch/nas/data/gyro/steps.h b/src/tests/catch/nas/data/gyro/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..99ed414e3546f39d88c5671406ebd6b57cec5815
--- /dev/null
+++ b/src/tests/catch/nas/data/gyro/steps.h
@@ -0,0 +1,7629 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASPredictionSteps gyro_steps[]{
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61364, 0.26682, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
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+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
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+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.6815, 0.29634, 0,
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+ },
+ {
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+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
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+ },
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+ },
+ {
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+ },
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+ },
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+ 0, -160, 0, 0, 0, -0.17295, 0.074714, 0.90061, 0.39166, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.16998, 0.07342, 0.90118, 0.39191,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.16998, 0.07342, 0.90118, 0.39191, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.16698, 0.072115, 0.90174, 0.39215,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.16698, 0.072115, 0.90174, 0.39215, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.16396, 0.070799, 0.9023, 0.39239,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.16396, 0.070799, 0.9023, 0.39239, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.16091, 0.069473, 0.90284, 0.39263,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.16091, 0.069473, 0.90284, 0.39263, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.15784, 0.068137, 0.90338, 0.39286,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.15784, 0.068137, 0.90338, 0.39286, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.15475, 0.066791, 0.90392, 0.39309,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.15475, 0.066791, 0.90392, 0.39309, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.15164, 0.065437, 0.90445, 0.39332,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.15164, 0.065437, 0.90445, 0.39332, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.1485, 0.064071, 0.90497, 0.39354,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.1485, 0.064071, 0.90497, 0.39354, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.14534, 0.062697, 0.90548, 0.39377,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.14534, 0.062697, 0.90548, 0.39377, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.14216, 0.061313, 0.90598, 0.39398,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.14216, 0.061313, 0.90598, 0.39398, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.13895, 0.059916, 0.90648, 0.3942,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.13895, 0.059916, 0.90648, 0.3942, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.13572, 0.058509, 0.90697, 0.39441,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.13572, 0.058509, 0.90697, 0.39441, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.13247, 0.057092, 0.90745, 0.39461,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.13247, 0.057092, 0.90745, 0.39461, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.12919, 0.055668, 0.90793, 0.39482,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.12919, 0.055668, 0.90793, 0.39482, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.1259, 0.05423, 0.90839, 0.39502,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.1259, 0.05423, 0.90839, 0.39502, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.12257, 0.052784, 0.90884, 0.39521,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.12257, 0.052784, 0.90884, 0.39521, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.11923, 0.051328, 0.90929, 0.39541,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.11923, 0.051328, 0.90929, 0.39541, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.11586, 0.049861, 0.90972, 0.3956,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.11586, 0.049861, 0.90972, 0.3956, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.11247, 0.048385, 0.91015, 0.39578,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.11247, 0.048385, 0.91015, 0.39578, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.10905, 0.046896, 0.91056, 0.39596,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.10905, 0.046896, 0.91056, 0.39596, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.10561, 0.045398, 0.91097, 0.39614,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.10561, 0.045398, 0.91097, 0.39614, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.10215, 0.043893, 0.91136, 0.39631,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.10215, 0.043893, 0.91136, 0.39631, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.098664, 0.042377, 0.91175,
+ 0.39647, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.098664, 0.042377,
+ 0.91175, 0.39647, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.095153, 0.040851, 0.91212,
+ 0.39663, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.095153, 0.040851,
+ 0.91212, 0.39663, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.091619, 0.039316, 0.91248,
+ 0.39679, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.091619, 0.039316,
+ 0.91248, 0.39679, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.088064, 0.037771, 0.91283,
+ 0.39694, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.088064, 0.037771,
+ 0.91283, 0.39694, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.084486, 0.036213, 0.91317,
+ 0.39708, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.084486, 0.036213,
+ 0.91317, 0.39708, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.080883, 0.034646, 0.91349,
+ 0.39723, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.080883, 0.034646,
+ 0.91349, 0.39723, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.077259, 0.033068, 0.91381,
+ 0.39736, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.077259, 0.033068,
+ 0.91381, 0.39736, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.073611, 0.03148, 0.91411, 0.39749,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.073611, 0.03148, 0.91411, 0.39749, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.069941, 0.029883,
+ 0.9144, 0.39761, 0, 0, 0, 0, 0, -160,
+ 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, -0.069941, 0.029883, 0.9144, 0.39761, 0, 0, 0,
+ 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.066247, 0.028277, 0.91467,
+ 0.39773, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.066247, 0.028277,
+ 0.91467, 0.39773, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.062532, 0.026661, 0.91493,
+ 0.39784, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.062532, 0.026661,
+ 0.91493, 0.39784, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.058796, 0.025036, 0.91518,
+ 0.39795, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.058796, 0.025036,
+ 0.91518, 0.39795, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.055035, 0.0234, 0.91541, 0.39805,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.055035, 0.0234, 0.91541, 0.39805, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.051251, 0.021756, 0.91563,
+ 0.39814, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.051251, 0.021756,
+ 0.91563, 0.39814, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.047447, 0.020102, 0.91584,
+ 0.39823, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.047447, 0.020102,
+ 0.91584, 0.39823, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.043619, 0.018437, 0.91603,
+ 0.39831, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.043619, 0.018437,
+ 0.91603, 0.39831, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.039769, 0.016766,
+ 0.9162, 0.39838, 0, 0, 0, 0, 0, -160,
+ 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, -0.039769, 0.016766, 0.9162, 0.39838, 0, 0, 0,
+ 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.0359, 0.015085, 0.91636, 0.39845,
+ 0, 0, 0, 0, 0, -160, 0, 0, 0, 0,
+ 0, -160, 0, 0, 0, -0.0359, 0.015085, 0.91636, 0.39845, 0,
+ 0, 0, 0, 0, -160, 0, 0, 0,
+ },
+ {
+ 0, 0, -160, 0, 0, 0, -0.032012, 0.013393, 0.91651,
+ 0.39851, 0, 0, 0, 0, 0, -160, 0, 0,
+ 0, 0, 0, -160, 0, 0, 0, -0.032012, 0.013393,
+ 0.91651, 0.39851, 0, 0, 0, 0, 0, -160, 0,
+ 0, 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/input.h b/src/tests/catch/nas/data/input.h
deleted file mode 100644
index 8cc8116b7f5e51740c9ee3a28d03ec9dfab9dd1f..0000000000000000000000000000000000000000
--- a/src/tests/catch/nas/data/input.h
+++ /dev/null
@@ -1,3891 +0,0 @@
-/* Copyright (c) 2024 Skyward Experimental Rocketry
- * Author: Davide Basso
- *
- * 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.
- */
-
-/* This file was automatically generated, do not edit manually! */
-
-#include <algorithms/NAS/NASConfig.h>
-#include <algorithms/NAS/NASState.h>
-#include <sensors/SensorData.h>
-#include <sensors/analog/Pitot/PitotData.h>
-
-using namespace Boardcore;
-
-NASState input[] = {
- {20000,
- {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
- {40000,
- {-2.8474e-10, -1.3336e-09, -159.9462, 1.6476e-05, 7.7163e-05, 0.18843,
- -0.61364, 0.26682, 0.68151, 0.29629, 3.6282e-09, -2.4628e-09,
- -6.139e-09}},
- {60000,
- {1.6501e-06, -1.4912e-06, -159.9314, -0.00076924, 0.00080147, 0.29689,
- -0.61354, 0.26688, 0.68161, 0.29622, 3.6348e-09, -2.2745e-09,
- -6.4023e-09}},
- {80000,
- {6.6363e-06, -7.4804e-06, -159.97, -0.0038512, 0.0042881, 0.056873,
- -0.61342, 0.26693, 0.68172, 0.29618, 2.8514e-09, 5.608e-09, -1.4679e-08}},
- {100000,
- {3.0211e-06, -2.9284e-06, -159.5938, -0.0053462, 0.0057456, -0.29686,
- -0.61379, 0.26687, 0.68148, 0.29603, 3.5139e-09, 3.9891e-09,
- -1.4273e-08}},
- {120000,
- {-1.1162, -0.15628, -159.3922, -1.3994, 0.78736, -1.0532, -0.61365,
- 0.26683, 0.68152, 0.29627, -2.8485e-09, 1.2169e-08, -8.5527e-09}},
- {140000,
- {-1.254, -0.17347, -159.3884, -1.5684, 0.88282, -2.2861, -0.61339, 0.26687,
- 0.68168, 0.29638, -3.5528e-09, 1.3836e-08, -8.9125e-09}},
- {160000,
- {-1.271, -0.17535, -159.7002, -1.5901, 0.89598, -3.9525, -0.61346, 0.26686,
- 0.68165, 0.29632, -2.1749e-09, 1.1322e-08, -9.1837e-09}},
- {180000,
- {-1.2731, -0.17555, -159.689, -1.594, 0.8987, -5.4076, -0.6129, 0.26685,
- 0.68193, 0.29686, -5.1479e-09, 1.6403e-08, -8.1501e-09}},
- {200000,
- {-1.2734, -0.17557, -159.8085, -1.595, 0.89966, -6.3477, -0.61326, 0.26667,
- 0.68158, 0.29707, -5.0197e-09, 7.5213e-09, 3.2203e-09}},
- {220000,
- {-0.59872, -2.4394, -159.9669, -1.9802, 0.30005, -6.9715, -0.61319,
- 0.26669, 0.68163, 0.29707, -5.1845e-09, 8.1425e-09, 2.8328e-09}},
- {240000,
- {-0.51806, -2.7141, -160.4319, -2.0267, 0.22836, -7.4476, -0.61315,
- 0.26675, 0.68169, 0.29696, -4.2733e-09, 8.6781e-09, -2.3491e-10}},
- {259999,
- {-0.50842, -2.7474, -160.5361, -2.0326, 0.21973, -7.7993, -0.61322, 0.2669,
- 0.6818, 0.29643, -1.6811e-09, 7.0456e-09, -4.8012e-09}},
- {280000,
- {-0.50727, -2.7515, -161.0801, -2.0333, 0.21858, -9.5087, -0.61295,
- 0.26698, 0.68201, 0.29644, -3.2738e-09, 1.2783e-08, -8.1905e-09}},
- {300000,
- {-0.50713, -2.752, -160.5173, -2.0334, 0.21839, -10.9739, -0.6127, 0.26689,
- 0.68206, 0.29692, -6.448e-09, 1.6593e-08, -4.9725e-09}},
- {320000,
- {-1.1395, -1.8881, -160.7369, -3.6413, -1.4065, -12.1443, -0.61238,
- 0.26712, 0.68244, 0.29651, -4.6394e-09, 2.1476e-08, -1.6133e-08}},
- {340000,
- {-1.2193, -1.7872, -160.3876, -3.8355, -1.6031, -12.9556, -0.6121, 0.2672,
- 0.68265, 0.29651, -5.5073e-09, 2.482e-08, -1.8275e-08}},
- {360000,
- {-1.2294, -1.7755, -160.7406, -3.8589, -1.627, -13.557, -0.61194, 0.26722,
- 0.68276, 0.2966, -7.0915e-09, 2.8229e-08, -1.8616e-08}},
- {380000,
- {-1.2306, -1.7741, -161.0414, -3.8617, -1.6298, -15.0634, -0.61228,
- 0.26703, 0.68241, 0.29686, -7.3428e-09, 2.43e-08, -1.28e-08}},
- {400000,
- {-1.2308, -1.774, -160.8431, -3.8619, -1.6302, -16.203, -0.6125, 0.26682,
- 0.6821, 0.29729, -9.5433e-09, 2.1659e-08, -3.5528e-09}},
- {420000,
- {0.08878, 1.6752, -160.8172, 0.28739, 4.5713, -15.762, -0.61298, 0.26679,
- 0.68182, 0.29699, -6.0944e-09, 1.4594e-08, -3.2272e-09}},
- {440000,
- {0.2571, 2.1051, -160.8042, 0.7883, 5.3194, -15.5695, -0.61297, 0.267,
- 0.68202, 0.29634, -1.4538e-09, 1.2926e-08, -1.3054e-08}},
- {460000,
- {0.27851, 2.1587, -161.235, 0.84863, 5.4093, -15.4818, -0.61282, 0.26692,
- 0.68203, 0.29671, -4.1879e-09, 1.5885e-08, -9.8407e-09}},
- {480000,
- {0.28122, 2.1653, -161.0038, 0.85596, 5.4203, -16.1661, -0.61286, 0.26695,
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- {-730.6938, 319.1866, -3157.4766, -27.2726, 14.8396, -26.8575, -0.19502,
- 0.50301, 0.84027, 0.053767, -4.9465e-09, 1.4617e-08, -1.1829e-08}},
- {24660000,
- {-730.7419, 319.1901, -3158.8167, -27.2667, 14.8443, -27.3277, -0.19247,
- 0.5059, 0.83918, 0.052826, -6.0777e-09, 1.2754e-08, -1.2039e-08}},
- {24680000,
- {-730.7477, 319.1905, -3159.8679, -27.2659, 14.8449, -26.7335, -0.19021,
- 0.50823, 0.83834, 0.052112, -4.6552e-09, 1.2847e-08, -4.9669e-09}},
- {24700000,
- {-730.7485, 319.1906, -3159.6162, -27.2659, 14.8449, -26.2733, -0.18761,
- 0.51056, 0.83758, 0.050837, -4.0439e-09, 1.4327e-08, -6.4132e-09}},
- {24720000,
- {-734.002, 319.6049, -3160.9995, -27.3948, 15.2506, -26.0076, -0.18515,
- 0.51442, 0.83579, 0.050441, -9.6758e-09, 4.4351e-09, -3.608e-09}},
- {24740000,
- {-734.3953, 319.6558, -3160.3657, -27.4094, 15.2995, -25.7359, -0.18277,
- 0.51582, 0.83553, 0.049135, -5.0959e-09, 1.0544e-08, 5.6835e-10}},
- {24760000,
- {-734.4428, 319.6621, -3161.3254, -27.4112, 15.3053, -25.5986, -0.18021,
- 0.51652, 0.83576, 0.047232, 2.2472e-09, 2.2131e-08, 1.8634e-10}},
- {24780000,
- {-734.4485, 319.6628, -3160.6121, -27.4114, 15.3061, -24.3593, -0.17752,
- 0.5195, 0.83455, 0.046071, -6.3982e-10, 1.8476e-08, -2.6948e-09}},
- {24800000,
- {-734.4492, 319.6629, -3160.2812, -27.4114, 15.3061, -23.5271, -0.17525,
- 0.5209, 0.83422, 0.04489, 3.8145e-09, 2.3128e-08, 4.385e-09}},
- {24820000,
- {-735.4614, 320.5132, -3160.6697, -27.1683, 10.8736, -24.3963, -0.17257,
- 0.52332, 0.83334, 0.043499, 3.0016e-09, 2.2639e-08, 1.8765e-09}},
- {24840000,
- {-735.5831, 320.6063, -3161.7356, -27.1385, 10.338, -25.1761, -0.16955,
- 0.52617, 0.83226, 0.041792, -4.3003e-10, 2.0522e-08, -8.2221e-09}},
- {24860000,
- {-735.5977, 320.6164, -3162.3054, -27.1349, 10.2733, -25.7748, -0.16693,
- 0.52868, 0.83126, 0.04054, -1.8952e-09, 1.85e-08, -8.7384e-09}},
- {24880000,
- {-735.5995, 320.6175, -3160.7734, -27.1346, 10.2655, -24.8125, -0.16461,
- 0.53087, 0.83037, 0.039631, -1.6451e-09, 1.6862e-08, -1.7033e-09}},
- {24900000,
- {-735.5997, 320.6176, -3160.8477, -27.1346, 10.2645, -24.2213, -0.16214,
- 0.53343, 0.82926, 0.038655, -3.5402e-09, 1.3055e-08, 2.0486e-09}},
- {24920000,
- {-737.2628, 319.1071, -3161.1177, -28.1361, 14.9637, -23.8077, -0.15938,
- 0.53588, 0.82828, 0.037176, -5.6449e-09, 1.1004e-08, -1.1937e-09}},
- {24940000,
- {-737.4658, 318.9348, -3160.3398, -28.2565, 15.5314, -23.4659, -0.15662,
- 0.5385, 0.82717, 0.035772, -8.6443e-09, 7.5903e-09, -4.0841e-09}},
- {24960000,
- {-737.4906, 318.9152, -3158.9734, -28.2708, 15.6001, -23.1928, -0.15402,
- 0.54004, 0.82672, 0.03412, -6.4693e-09, 1.0527e-08, -4.0043e-09}},
- {24980000,
- {-737.4937, 318.9129, -3159.302, -28.2727, 15.6084, -23.3843, -0.1513,
- 0.54152, 0.82634, 0.032239, -4.3509e-09, 1.4194e-08, -6.873e-09}},
- {25000000,
- {-737.494, 318.9127, -3159.5579, -28.2729, 15.6095, -23.5324, -0.14879,
- 0.54374, 0.82537, 0.031072, -5.6884e-09, 1.1431e-08, -3.1188e-09}},
- {25020000,
- {-738.9818, 322.2817, -3160.0669, -27.0468, 15.8078, -23.9618, -0.14641,
- 0.54576, 0.82451, 0.030003, -5.9267e-09, 9.293e-09, 3.7623e-09}},
- {25040000,
- {-739.1589, 322.6891, -3160.0117, -26.8986, 15.8308, -24.2693, -0.14403,
- 0.54805, 0.82344, 0.029068, -7.8258e-09, 4.9171e-09, 1.1203e-08}},
- {25060000,
- {-739.1799, 322.7383, -3158.9304, -26.8805, 15.8334, -24.4585, -0.1415,
- 0.54952, 0.82295, 0.027536, -5.8555e-09, 6.6509e-09, 1.4374e-08}},
- {25080000,
- {-739.1824, 322.7443, -3160.0427, -26.8784, 15.8338, -24.6812, -0.1386,
- 0.55199, 0.82185, 0.025888, -9.9941e-09, 2.6168e-09, 9.7032e-09}},
- {25100000,
- {-739.1827, 322.745, -3160.229, -26.8779, 15.8339, -24.8058, -0.13585,
- 0.55385, 0.8211, 0.024205, -1.0798e-08, 1.9332e-09, 8.397e-09}},
- {25120000,
- {-743.155, 323.2589, -3160.6558, -25.7949, 16.316, -24.9078, -0.13326,
- 0.55523, 0.82064, 0.022545, -8.9245e-09, 3.6837e-09, 1.0602e-08}},
- {25140000,
- {-743.6324, 323.322, -3160.7529, -25.663, 16.3738, -24.9689, -0.13085,
- 0.55589, 0.82063, 0.020791, -3.1014e-09, 9.4682e-09, 1.6051e-08}},
- {25160000,
- {-743.6898, 323.3298, -3160.9304, -25.647, 16.3808, -25.0158, -0.12779,
- 0.55734, 0.82018, 0.018475, -2.4601e-09, 1.2337e-08, 7.4637e-09}},
- {25180000,
- {-743.6967, 323.3307, -3159.7336, -25.645, 16.3816, -24.3077, -0.12514,
- 0.55887, 0.81959, 0.016793, -2.0579e-09, 1.2441e-08, 8.9916e-09}},
- {25200000,
- {-743.6976, 323.3308, -3159.9993, -25.6448, 16.3818, -23.8673, -0.12209,
- 0.56022, 0.81917, 0.014466, -1.1936e-09, 1.5331e-08, 1.1594e-09}},
- {25220000,
- {-746.9788, 325.3221, -3158.9375, -24.7889, 13.2387, -24.1293, -0.11965,
- 0.56123, 0.81886, 0.01279, 1.8859e-09, 1.7564e-08, 6.6418e-09}},
- {25240000,
- {-747.3732, 325.5558, -3160.3154, -24.6847, 12.8584, -24.4383, -0.11707,
- 0.56247, 0.81841, 0.011064, 3.4644e-09, 1.8565e-08, 9.8954e-09}},
- {25260000,
- {-747.4207, 325.5833, -3158.6255, -24.672, 12.8123, -24.5512, -0.11439,
- 0.56346, 0.81814, 0.0090762, 6.2387e-09, 2.1528e-08, 1.0565e-08}},
- {25280000,
- {-747.4264, 325.5865, -3158.5242, -24.6705, 12.8069, -24.994, -0.11174,
- 0.56434, 0.81791, 0.0070756, 9.5076e-09, 2.4804e-08, 1.1866e-08}},
- {25300000,
- {-747.4271, 325.5869, -3160.1147, -24.6702, 12.8061, -25.3982, -0.10894,
- 0.56664, 0.81671, 0.0056138, 4.13e-09, 1.8648e-08, 1.3004e-08}},
- {25320000,
- {-749.3227, 326.7357, -3159.7163, -28.9079, 12.6933, -24.5976, -0.10611,
- 0.56809, 0.81609, 0.0036893, 3.5035e-09, 1.8218e-08, 1.1976e-08}},
- {25340000,
- {-749.5608, 326.8742, -3160.4734, -29.4194, 12.6793, -24.0944, -0.10318,
- 0.56917, 0.81572, 0.0014435, 4.8305e-09, 2.0523e-08, 8.1134e-09}},
- {25360000,
- {-749.5906, 326.8909, -3161.4263, -29.4812, 12.6778, -23.7427, -0.10014,
- 0.57008, 0.81546, -0.0010138, 7.0229e-09, 2.4198e-08, 1.972e-09}},
- {25380000,
- {-749.5944, 326.8929, -3162.6064, -29.4887, 12.6776, -23.4948, -0.097471,
- 0.57126, 0.81495, -0.0028483, 7.5635e-09, 2.412e-08, 4.7485e-09}},
- {25400000,
- {-749.5948, 326.8932, -3162.1675, -29.4895, 12.6775, -23.2503, -0.094665,
- 0.57296, 0.81409, -0.0045645, 4.6017e-09, 2.0846e-08, 6.0549e-09}},
- {25420000,
- {-751.6432, 329.6349, -3161.4705, -26.8299, 13.4524, -23.0629, -0.092083,
- 0.57338, 0.81407, -0.0066812, 9.5417e-09, 2.5024e-08, 9.4816e-09}},
- {25440000,
- {-751.8849, 329.9677, -3160.9929, -26.5082, 13.5456, -22.9342, -0.089161,
- 0.57428, 0.81374, -0.0089262, 1.0792e-08, 2.6765e-08, 7.1757e-09}},
- {25460000,
- {-751.9134, 330.0081, -3162.4941, -26.4693, 13.5566, -22.9178, -0.086163,
- 0.57566, 0.81306, -0.010962, 8.4073e-09, 2.4944e-08, 4.9439e-09}},
- {25480000,
- {-751.9167, 330.013, -3163.5242, -26.4645, 13.5579, -23.5097, -0.083397,
- 0.57654, 0.8127, -0.012942, 8.6898e-09, 2.4765e-08, 6.9605e-09}},
- {25500000,
- {-751.9171, 330.0136, -3163.1147, -26.4639, 13.558, -23.9193, -0.080693,
- 0.5776, 0.81219, -0.014715, 7.2766e-09, 2.2484e-08, 1.122e-08}},
- {25520000,
- {-754.259, 331.527, -3162.8342, -27.3313, 12.3163, -23.1677, -0.077541,
- 0.57912, 0.81137, -0.016722, 1.9557e-09, 1.8339e-08, 7.7152e-09}},
- {25540000,
- {-754.5437, 331.7071, -3162.2754, -27.4354, 12.1658, -22.6421, -0.074647,
- 0.57982, 0.8111, -0.018822, 1.7133e-09, 1.8006e-08, 8.2214e-09}},
- {25560000,
- {-754.5783, 331.7286, -3161.5024, -27.448, 12.1476, -22.2558, -0.071132,
- 0.58086, 0.81061, -0.021408, -1.5898e-09, 1.7448e-08, -2.7943e-09}},
- {25580000,
- {-754.5825, 331.7311, -3162.8997, -27.4495, 12.1454, -21.6697, -0.068561,
- 0.58146, 0.81035, -0.023097, -2.1814e-09, 1.5154e-08, 5.3122e-09}},
- {25600000,
- {-754.5831, 331.7314, -3163.3169, -27.4496, 12.145, -21.2149, -0.065597,
- 0.58131, 0.81063, -0.025607, 1.7463e-09, 1.891e-08, 3.7479e-09}},
- {25620000,
- {-757.4791, 333.3467, -3163.8867, -27.5954, 14.4108, -21.868, -0.06239,
- 0.58103, 0.81099, -0.028399, 6.079e-09, 2.4004e-08, -2.4175e-09}},
- {25640000,
- {-757.8292, 333.5467, -3163.8745, -27.6122, 14.6841, -22.3912, -0.059466,
- 0.58208, 0.81039, -0.030111, 2.3709e-10, 1.8278e-08, 1.2264e-09}},
- {25660000,
- {-757.8715, 333.5715, -3164.2415, -27.6141, 14.7171, -22.8158, -0.056553,
- 0.58239, 0.8103, -0.032174, -8.8388e-10, 1.6819e-08, 3.5886e-09}},
- {25680000,
- {-757.8766, 333.5745, -3164.5476, -27.6144, 14.7211, -21.514, -0.053521,
- 0.58257, 0.81029, -0.034384, -1.5567e-09, 1.6205e-08, 3.8769e-09}},
- {25700000,
- {-757.8773, 333.5749, -3164.7139, -27.6145, 14.7215, -20.6674, -0.050574,
- 0.58318, 0.80996, -0.036216, -6.2018e-09, 1.1606e-08, 7.5996e-09}},
-
-};
diff --git a/src/tests/catch/nas/data/mag/acc.h b/src/tests/catch/nas/data/mag/acc.h
new file mode 100644
index 0000000000000000000000000000000000000000..694d86aff73a8a44eed3d07ba534e07507f40dcc
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/acc.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+AccelerometerData mag_acc[] = {
+ {
+ 20000,
+ 5.7433,
+ -0.03832,
+ -0.03353,
+ },
+ {
+ 40000,
+ 10.7728,
+ -0.02395,
+ -0.0479,
+ },
+ {
+ 60000,
+ 15.8407,
+ -0.01437,
+ 0.05269,
+ },
+ {
+ 80000,
+ 20.9085,
+ -0.062271,
+ 0.03353,
+ },
+ {
+ 100000,
+ 25.986,
+ -0.0479,
+ 0.00479,
+ },
+ {
+ 120000,
+ 31.0874,
+ -0.02874,
+ 0.02874,
+ },
+ {
+ 140000,
+ 36.2175,
+ -0.01437,
+ -0.00479,
+ },
+ {
+ 160000,
+ 41.2949,
+ 0.02874,
+ 0.062271,
+ },
+ {
+ 180000,
+ 46.3772,
+ 0.05748,
+ 0.00479,
+ },
+ {
+ 200000,
+ 51.56,
+ 0.03353,
+ -0.02395,
+ },
+ {
+ 220000,
+ 56.6422,
+ -0.0095801,
+ -0.01437,
+ },
+ {
+ 240000,
+ 61.8155,
+ -0.01437,
+ 0.00479,
+ },
+ {
+ 259999,
+ 66.9312,
+ 0.00479,
+ -0.04311,
+ },
+ {
+ 280000,
+ 72.0039,
+ -0.05269,
+ 0,
+ },
+ {
+ 300000,
+ 72.2577,
+ 0.01437,
+ -0.01916,
+ },
+ {
+ 320000,
+ 71.5871,
+ 0.01916,
+ 0.05748,
+ },
+ {
+ 340000,
+ 70.9357,
+ 0.02874,
+ 0.03353,
+ },
+ {
+ 360000,
+ 70.2986,
+ 0,
+ -0.02395,
+ },
+ {
+ 380000,
+ 69.6663,
+ 0.04311,
+ -0.04311,
+ },
+ {
+ 400000,
+ 69.1059,
+ -0.067061,
+ 0.00479,
+ },
+ {
+ 420000,
+ 68.5455,
+ 0.01437,
+ 0.02395,
+ },
+ {
+ 440000,
+ 68.0138,
+ 0.03832,
+ 0.05748,
+ },
+ {
+ 460000,
+ 67.5491,
+ -0.03832,
+ 0.01916,
+ },
+ {
+ 480000,
+ 67.0653,
+ 0.0479,
+ 0.04311,
+ },
+ {
+ 500000,
+ 66.6342,
+ 0.0095801,
+ 0.04311,
+ },
+ {
+ 519999,
+ 66.2031,
+ -0.03832,
+ 0,
+ },
+ {
+ 540000,
+ 65.8247,
+ -0.0095801,
+ -0.00479,
+ },
+ {
+ 560000,
+ 65.4224,
+ 0.02395,
+ 0.0095801,
+ },
+ {
+ 580000,
+ 65.0535,
+ -0.0479,
+ 0.01437,
+ },
+ {
+ 600000,
+ 64.7661,
+ -0.01916,
+ 0.01437,
+ },
+ {
+ 620000,
+ 64.4691,
+ -0.086221,
+ 0.01437,
+ },
+ {
+ 640000,
+ 64.1482,
+ 0.01437,
+ -0.0095801,
+ },
+ {
+ 660000,
+ 63.971,
+ 0.0095801,
+ -0.03832,
+ },
+ {
+ 680000,
+ 63.6788,
+ 0,
+ 0.00479,
+ },
+ {
+ 700000,
+ 63.4297,
+ 0.0095801,
+ -0.02395,
+ },
+ {
+ 720000,
+ 63.2333,
+ -0.0095801,
+ 0.00479,
+ },
+ {
+ 740000,
+ 63.0992,
+ -0.02395,
+ -0.0095801,
+ },
+ {
+ 760000,
+ 62.9363,
+ 0.04311,
+ -0.0479,
+ },
+ {
+ 780000,
+ 62.807,
+ -0.02395,
+ 0.0095801,
+ },
+ {
+ 800000,
+ 62.6872,
+ -0.02874,
+ -0.03353,
+ },
+ {
+ 820000,
+ 62.5914,
+ 0.01916,
+ -0.0095801,
+ },
+ {
+ 840000,
+ 62.5052,
+ 0,
+ -0.02395,
+ },
+ {
+ 860000,
+ 62.4238,
+ 0.03832,
+ -0.0479,
+ },
+ {
+ 880000,
+ 62.3807,
+ -0.02874,
+ -0.03832,
+ },
+ {
+ 900000,
+ 62.3519,
+ -0.01916,
+ -0.02395,
+ },
+ {
+ 920000,
+ 62.3903,
+ 0.03832,
+ -0.03353,
+ },
+ {
+ 940000,
+ 62.4286,
+ 0.02395,
+ -0.00479,
+ },
+ {
+ 960000,
+ 62.4334,
+ -0.03353,
+ -0.04311,
+ },
+ {
+ 980000,
+ 62.5579,
+ -0.01437,
+ -0.05748,
+ },
+ {
+ 1000000,
+ 62.5723,
+ 0.02395,
+ -0.0479,
+ },
+ {
+ 1020000,
+ 62.7304,
+ -0.01437,
+ -0.03353,
+ },
+ {
+ 1039999,
+ 62.7974,
+ 0.01437,
+ -0.03832,
+ },
+ {
+ 1060000,
+ 62.8118,
+ -0.00479,
+ -0.091011,
+ },
+ {
+ 1080000,
+ 63.0609,
+ 0.0479,
+ -0.05748,
+ },
+ {
+ 1100000,
+ 63.1136,
+ -0.02874,
+ -0.02874,
+ },
+ {
+ 1120000,
+ 63.262,
+ 0.00479,
+ -0.062271,
+ },
+ {
+ 1140000,
+ 63.4345,
+ 0.02395,
+ -0.086221,
+ },
+ {
+ 1160000,
+ 63.5303,
+ 0.02874,
+ -0.12454,
+ },
+ {
+ 1180000,
+ 63.6405,
+ 0.01916,
+ -0.095801,
+ },
+ {
+ 1200000,
+ 63.8512,
+ 0.02395,
+ -0.091011,
+ },
+ {
+ 1220000,
+ 63.9949,
+ -0.03353,
+ -0.071851,
+ },
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+ {
+ 25260000,
+ -0.12454,
+ 0.04311,
+ -0.32093,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/mag/baro.h b/src/tests/catch/nas/data/mag/baro.h
new file mode 100644
index 0000000000000000000000000000000000000000..febcbb5fdcb7e607f5f9ee7b7349a3d2f1916de1
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/baro.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PressureData mag_baro[] = {
+ {
+ 20000,
+ 99449.4766,
+ },
+ {
+ 40000,
+ 99576.375,
+ },
+ {
+ 60000,
+ 99305.5859,
+ },
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+ },
+ {
+ 100000,
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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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diff --git a/src/tests/catch/nas/data/mag/config.h b/src/tests/catch/nas/data/mag/config.h
new file mode 100644
index 0000000000000000000000000000000000000000..8f05c37700d38af16d3132036c1df228b975b621
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/config.h
@@ -0,0 +1,52 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASConfig mag_nas_config{
+ 0.02, ///< T
+ 0.0001, ///< SIGMA_BETA
+ 10, ///< SIGMA_W
+ 10, ///< SIGMA_ACC [simulated]
+ 10, ///< SIGMA_MAG
+ {0.002, 0.002, 0.00033333, 0.00033333}, ///< SIGMA_GPS
+ 50, ///< SIGMA_BAR
+ 0.02, ///< SIGMA_POS
+ 1, ///< 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 [simulated]
+ {263.7423, -4.0401, 356.7031}, ///< NED_MAG
+};
diff --git a/src/tests/catch/nas/data/mag/gps.h b/src/tests/catch/nas/data/mag/gps.h
new file mode 100644
index 0000000000000000000000000000000000000000..450b6c9adcd8dc253210c83361aa471a5ce6d54c
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/gps.h
@@ -0,0 +1,17717 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GPSData mag_gps[] = {
+ {
+ 20000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 40000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 60000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
+ {
+ 80000,
+ 39.3891,
+ -8.2879,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 0,
+ 16,
+ 3,
+ },
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diff --git a/src/tests/catch/nas/data/mag/gyro.h b/src/tests/catch/nas/data/mag/gyro.h
new file mode 100644
index 0000000000000000000000000000000000000000..b05ee68e636445d6b952015181ac46558fdbbd1a
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/gyro.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+GyroscopeData mag_gyro[] = {
+ {
+ 20000,
+ 0,
+ 0.00013049,
+ -0.00013049,
+ },
+ {
+ 40000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ 0,
+ 0.00013049,
+ },
+ {
+ 80000,
+ 0.00013049,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 100000,
+ 0,
+ 0,
+ -0.00026099,
+ },
+ {
+ 120000,
+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
+ 140000,
+ 0.00013049,
+ 0.00013049,
+ 0,
+ },
+ {
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+ -0.00013049,
+ 0,
+ 0.00013049,
+ },
+ {
+ 180000,
+ 0.00013049,
+ -0.00013049,
+ -0.00026099,
+ },
+ {
+ 200000,
+ 0.00013049,
+ -0.00013049,
+ 0.00013049,
+ },
+ {
+ 220000,
+ 0,
+ -0.00026099,
+ -0.00026099,
+ },
+ {
+ 240000,
+ 0.00013049,
+ 0.00026099,
+ -0.00013049,
+ },
+ {
+ 259999,
+ -0.00013049,
+ 0,
+ 0.00013049,
+ },
+ {
+ 280000,
+ 0,
+ 0.00026099,
+ 0.00013049,
+ },
+ {
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+ -0.00013049,
+ -0.00013049,
+ -0.00013049,
+ },
+ {
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+ 0.00026099,
+ 0,
+ },
+ {
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+ 0,
+ 0,
+ 0,
+ },
+ {
+ 360000,
+ 0.00013049,
+ 0,
+ 0,
+ },
+ {
+ 380000,
+ -0.00013049,
+ 0,
+ 0,
+ },
+ {
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+ 0,
+ 0,
+ 0,
+ },
+ {
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+ -0.00013049,
+ },
+ {
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+ 0.00013049,
+ },
+ {
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+ },
+ {
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+ -0.00026099,
+ },
+ {
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+ 0,
+ },
+ {
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+ 0,
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+ 0,
+ },
+ {
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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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+ 0,
+ },
+ {
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+ },
+ {
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+ },
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+ },
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+ 0,
+ },
+ {
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+ },
+ {
+ 1000000,
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+ },
+ {
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+ 0,
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+ 0,
+ },
+ {
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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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+ 0,
+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
+ {
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+ 0,
+ },
+ {
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+ },
+ {
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+ },
+ {
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+ },
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+ 24320000,
+ 0,
+ -0.31462,
+ 0,
+ },
+ {
+ 24340000,
+ 0,
+ -0.31697,
+ 0.00013049,
+ },
+ {
+ 24360000,
+ 0.00013049,
+ -0.31893,
+ -0.00013049,
+ },
+ {
+ 24380000,
+ 0,
+ -0.32141,
+ -0.00013049,
+ },
+ {
+ 24400000,
+ -0.00013049,
+ -0.32337,
+ -0.00013049,
+ },
+ {
+ 24420000,
+ 0,
+ -0.32585,
+ 0,
+ },
+ {
+ 24440000,
+ 0.00013049,
+ -0.32806,
+ 0,
+ },
+ {
+ 24460000,
+ 0,
+ -0.33041,
+ 0.00013049,
+ },
+ {
+ 24480000,
+ -0.00013049,
+ -0.33263,
+ -0.00013049,
+ },
+ {
+ 24500000,
+ -0.00013049,
+ -0.33511,
+ -0.00013049,
+ },
+ {
+ 24520000,
+ -0.00013049,
+ -0.33733,
+ -0.00013049,
+ },
+ {
+ 24540000,
+ -0.00026099,
+ -0.33968,
+ -0.00013049,
+ },
+ {
+ 24560000,
+ -0.00013049,
+ -0.34203,
+ -0.00013049,
+ },
+ {
+ 24580000,
+ 0,
+ -0.34451,
+ 0,
+ },
+ {
+ 24600000,
+ -0.00013049,
+ -0.34672,
+ 0,
+ },
+ {
+ 24620000,
+ 0,
+ -0.34907,
+ 0,
+ },
+ {
+ 24640000,
+ 0,
+ -0.35142,
+ 0.00013049,
+ },
+ {
+ 24660000,
+ -0.00026099,
+ -0.3539,
+ -0.00013049,
+ },
+ {
+ 24680000,
+ -0.00026099,
+ -0.35638,
+ 0.00026099,
+ },
+ {
+ 24700000,
+ -0.00026099,
+ -0.3586,
+ 0,
+ },
+ {
+ 24720000,
+ 0.00013049,
+ -0.36108,
+ -0.00013049,
+ },
+ {
+ 24740000,
+ -0.00026099,
+ -0.3633,
+ 0,
+ },
+ {
+ 24760000,
+ -0.00013049,
+ -0.36578,
+ 0,
+ },
+ {
+ 24780000,
+ 0,
+ -0.36813,
+ -0.00026099,
+ },
+ {
+ 24800000,
+ -0.00026099,
+ -0.37034,
+ -0.00013049,
+ },
+ {
+ 24820000,
+ -0.00013049,
+ -0.37282,
+ -0.00013049,
+ },
+ {
+ 24840000,
+ -0.00026099,
+ -0.37543,
+ -0.00026099,
+ },
+ {
+ 24860000,
+ -0.00026099,
+ -0.37752,
+ -0.00013049,
+ },
+ {
+ 24880000,
+ 0.00013049,
+ -0.38013,
+ 0,
+ },
+ {
+ 24900000,
+ 0,
+ -0.38235,
+ -0.00013049,
+ },
+ {
+ 24920000,
+ 0,
+ -0.38496,
+ 0,
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+ {
+ 24940000,
+ 0.00013049,
+ -0.38731,
+ 0,
+ },
+ {
+ 24960000,
+ 0.00013049,
+ -0.38953,
+ -0.00013049,
+ },
+ {
+ 24980000,
+ -0.00013049,
+ -0.39201,
+ -0.00013049,
+ },
+ {
+ 25000000,
+ 0,
+ -0.39449,
+ -0.00013049,
+ },
+ {
+ 25020000,
+ -0.00026099,
+ -0.3967,
+ 0,
+ },
+ {
+ 25040000,
+ -0.00013049,
+ -0.39918,
+ -0.00013049,
+ },
+ {
+ 25060000,
+ -0.00013049,
+ -0.40153,
+ 0.00013049,
+ },
+ {
+ 25080000,
+ 0,
+ -0.40388,
+ 0,
+ },
+ {
+ 25100000,
+ 0,
+ -0.4061,
+ -0.00013049,
+ },
+ {
+ 25120000,
+ 0,
+ -0.40832,
+ 0,
+ },
+ {
+ 25140000,
+ -0.00013049,
+ -0.41093,
+ 0,
+ },
+ {
+ 25160000,
+ 0.00013049,
+ -0.41328,
+ -0.00013049,
+ },
+ {
+ 25180000,
+ 0,
+ -0.41537,
+ 0,
+ },
+ {
+ 25200000,
+ 0,
+ -0.41798,
+ 0,
+ },
+ {
+ 25220000,
+ 0.00026099,
+ -0.42019,
+ -0.00013049,
+ },
+ {
+ 25240000,
+ 0.00013049,
+ -0.42215,
+ 0,
+ },
+ {
+ 25260000,
+ -0.00013049,
+ -0.42437,
+ 0,
+ },
+
+};
diff --git a/src/tests/catch/nas/data/mag/include.h b/src/tests/catch/nas/data/mag/include.h
new file mode 100644
index 0000000000000000000000000000000000000000..0ababf3030cf227b80ac758ee7f993ca674074bc
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/include.h
@@ -0,0 +1,42 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+#include "acc.h"
+#include "baro.h"
+#include "config.h"
+#include "gps.h"
+#include "gyro.h"
+#include "input.h"
+#include "mag.h"
+#include "output.h"
+#include "pitot.h"
+#include "steps.h"
diff --git a/src/tests/catch/nas/data/mag/input.h b/src/tests/catch/nas/data/mag/input.h
new file mode 100644
index 0000000000000000000000000000000000000000..611bb6b207e61589f90cac20eab1c128bdcc9af3
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/input.h
@@ -0,0 +1,2560 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState mag_input[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1260000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1520000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1740000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1760000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1780000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1800000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1820000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1840000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1860000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1880000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1900000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1920000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1940000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1960000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68152, 0.29633, 0, 0, 0}},
+ {1980000,
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+ {0, 0, -160, 0, 0, 0, -0.60707, 0.2674, 0.68543, 0.30025, 0, 0, 0}},
+ {24100000,
+ {0, 0, -160, 0, 0, 0, -0.60705, 0.2674, 0.68544, 0.30027, 0, 0, 0}},
+ {24120000,
+ {0, 0, -160, 0, 0, 0, -0.60702, 0.2674, 0.68545, 0.30029, 0, 0, 0}},
+ {24140000,
+ {0, 0, -160, 0, 0, 0, -0.607, 0.2674, 0.68547, 0.30031, 0, 0, 0}},
+ {24160000,
+ {0, 0, -160, 0, 0, 0, -0.60698, 0.2674, 0.68548, 0.30032, 0, 0, 0}},
+ {24180000,
+ {0, 0, -160, 0, 0, 0, -0.60695, 0.26741, 0.68549, 0.30034, 0, 0, 0}},
+ {24200000,
+ {0, 0, -160, 0, 0, 0, -0.60693, 0.26741, 0.68551, 0.30036, 0, 0, 0}},
+ {24220000,
+ {0, 0, -160, 0, 0, 0, -0.6069, 0.26741, 0.68552, 0.30038, 0, 0, 0}},
+ {24240000,
+ {0, 0, -160, 0, 0, 0, -0.60688, 0.26741, 0.68553, 0.3004, 0, 0, 0}},
+ {24260000,
+ {0, 0, -160, 0, 0, 0, -0.60685, 0.26741, 0.68555, 0.30042, 0, 0, 0}},
+ {24280000,
+ {0, 0, -160, 0, 0, 0, -0.60682, 0.26741, 0.68556, 0.30044, 0, 0, 0}},
+ {24300000,
+ {0, 0, -160, 0, 0, 0, -0.6068, 0.26741, 0.68557, 0.30046, 0, 0, 0}},
+ {24320000,
+ {0, 0, -160, 0, 0, 0, -0.60677, 0.26741, 0.68559, 0.30048, 0, 0, 0}},
+ {24340000,
+ {0, 0, -160, 0, 0, 0, -0.60675, 0.26741, 0.6856, 0.3005, 0, 0, 0}},
+ {24360000,
+ {0, 0, -160, 0, 0, 0, -0.60672, 0.26741, 0.68561, 0.30052, 0, 0, 0}},
+ {24380000,
+ {0, 0, -160, 0, 0, 0, -0.6067, 0.26741, 0.68563, 0.30054, 0, 0, 0}},
+ {24400000,
+ {0, 0, -160, 0, 0, 0, -0.60667, 0.26741, 0.68564, 0.30056, 0, 0, 0}},
+ {24420000,
+ {0, 0, -160, 0, 0, 0, -0.60665, 0.26741, 0.68565, 0.30058, 0, 0, 0}},
+ {24440000,
+ {0, 0, -160, 0, 0, 0, -0.60662, 0.26741, 0.68567, 0.3006, 0, 0, 0}},
+ {24460000,
+ {0, 0, -160, 0, 0, 0, -0.60659, 0.26741, 0.68568, 0.30062, 0, 0, 0}},
+ {24480000,
+ {0, 0, -160, 0, 0, 0, -0.60657, 0.26741, 0.6857, 0.30064, 0, 0, 0}},
+ {24500000,
+ {0, 0, -160, 0, 0, 0, -0.60654, 0.26741, 0.68571, 0.30067, 0, 0, 0}},
+ {24520000,
+ {0, 0, -160, 0, 0, 0, -0.60651, 0.26741, 0.68572, 0.30069, 0, 0, 0}},
+ {24540000,
+ {0, 0, -160, 0, 0, 0, -0.60649, 0.26741, 0.68574, 0.30071, 0, 0, 0}},
+ {24560000,
+ {0, 0, -160, 0, 0, 0, -0.60646, 0.26742, 0.68575, 0.30073, 0, 0, 0}},
+ {24580000,
+ {0, 0, -160, 0, 0, 0, -0.60644, 0.26742, 0.68576, 0.30075, 0, 0, 0}},
+ {24600000,
+ {0, 0, -160, 0, 0, 0, -0.60641, 0.26742, 0.68578, 0.30077, 0, 0, 0}},
+ {24620000,
+ {0, 0, -160, 0, 0, 0, -0.60638, 0.26742, 0.68579, 0.3008, 0, 0, 0}},
+ {24640000,
+ {0, 0, -160, 0, 0, 0, -0.60636, 0.26742, 0.68581, 0.30082, 0, 0, 0}},
+ {24660000,
+ {0, 0, -160, 0, 0, 0, -0.60633, 0.26742, 0.68582, 0.30084, 0, 0, 0}},
+ {24680000,
+ {0, 0, -160, 0, 0, 0, -0.6063, 0.26742, 0.68583, 0.30086, 0, 0, 0}},
+ {24700000,
+ {0, 0, -160, 0, 0, 0, -0.60627, 0.26742, 0.68585, 0.30089, 0, 0, 0}},
+ {24720000,
+ {0, 0, -160, 0, 0, 0, -0.60625, 0.26742, 0.68586, 0.30091, 0, 0, 0}},
+ {24740000,
+ {0, 0, -160, 0, 0, 0, -0.60622, 0.26742, 0.68588, 0.30093, 0, 0, 0}},
+ {24760000,
+ {0, 0, -160, 0, 0, 0, -0.60619, 0.26742, 0.68589, 0.30095, 0, 0, 0}},
+ {24780000,
+ {0, 0, -160, 0, 0, 0, -0.60617, 0.26742, 0.6859, 0.30098, 0, 0, 0}},
+ {24800000,
+ {0, 0, -160, 0, 0, 0, -0.60614, 0.26742, 0.68592, 0.301, 0, 0, 0}},
+ {24820000,
+ {0, 0, -160, 0, 0, 0, -0.60611, 0.26742, 0.68593, 0.30102, 0, 0, 0}},
+ {24840000,
+ {0, 0, -160, 0, 0, 0, -0.60608, 0.26742, 0.68595, 0.30105, 0, 0, 0}},
+ {24860000,
+ {0, 0, -160, 0, 0, 0, -0.60606, 0.26742, 0.68596, 0.30107, 0, 0, 0}},
+ {24880000,
+ {0, 0, -160, 0, 0, 0, -0.60603, 0.26742, 0.68597, 0.30109, 0, 0, 0}},
+ {24900000,
+ {0, 0, -160, 0, 0, 0, -0.606, 0.26742, 0.68599, 0.30112, 0, 0, 0}},
+ {24920000,
+ {0, 0, -160, 0, 0, 0, -0.60597, 0.26742, 0.686, 0.30114, 0, 0, 0}},
+ {24940000,
+ {0, 0, -160, 0, 0, 0, -0.60595, 0.26741, 0.68602, 0.30117, 0, 0, 0}},
+ {24960000,
+ {0, 0, -160, 0, 0, 0, -0.60592, 0.26741, 0.68603, 0.30119, 0, 0, 0}},
+ {24980000,
+ {0, 0, -160, 0, 0, 0, -0.60589, 0.26741, 0.68604, 0.30122, 0, 0, 0}},
+ {25000000,
+ {0, 0, -160, 0, 0, 0, -0.60586, 0.26741, 0.68606, 0.30124, 0, 0, 0}},
+ {25020000,
+ {0, 0, -160, 0, 0, 0, -0.60583, 0.26741, 0.68607, 0.30127, 0, 0, 0}},
+ {25040000,
+ {0, 0, -160, 0, 0, 0, -0.60581, 0.26741, 0.68609, 0.30129, 0, 0, 0}},
+ {25060000,
+ {0, 0, -160, 0, 0, 0, -0.60578, 0.26741, 0.6861, 0.30132, 0, 0, 0}},
+ {25080000,
+ {0, 0, -160, 0, 0, 0, -0.60575, 0.26741, 0.68611, 0.30134, 0, 0, 0}},
+ {25100000,
+ {0, 0, -160, 0, 0, 0, -0.60572, 0.26741, 0.68613, 0.30137, 0, 0, 0}},
+ {25120000,
+ {0, 0, -160, 0, 0, 0, -0.60569, 0.26741, 0.68614, 0.30139, 0, 0, 0}},
+ {25140000,
+ {0, 0, -160, 0, 0, 0, -0.60566, 0.26741, 0.68616, 0.30142, 0, 0, 0}},
+ {25160000,
+ {0, 0, -160, 0, 0, 0, -0.60564, 0.26741, 0.68617, 0.30144, 0, 0, 0}},
+ {25180000,
+ {0, 0, -160, 0, 0, 0, -0.60561, 0.26741, 0.68618, 0.30147, 0, 0, 0}},
+ {25200000,
+ {0, 0, -160, 0, 0, 0, -0.60558, 0.26741, 0.6862, 0.3015, 0, 0, 0}},
+ {25220000,
+ {0, 0, -160, 0, 0, 0, -0.60555, 0.26741, 0.68621, 0.30152, 0, 0, 0}},
+ {25240000,
+ {0, 0, -160, 0, 0, 0, -0.60552, 0.26741, 0.68622, 0.30155, 0, 0, 0}},
+ {25260000,
+ {0, 0, -160, 0, 0, 0, -0.60549, 0.26741, 0.68624, 0.30158, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/mag/mag.h b/src/tests/catch/nas/data/mag/mag.h
new file mode 100644
index 0000000000000000000000000000000000000000..0bbdf1eb55a3cb89f3a7c6a96e6975d69e77c844
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/mag.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+MagnetometerData mag_mag[] = {
+ {
+ 20000,
+ -373.52,
+ -193.14,
+ -146.16,
+ },
+ {
+ 40000,
+ -375.26,
+ -191.98,
+ -146.74,
+ },
+ {
+ 60000,
+ -374.1,
+ -193.14,
+ -145.58,
+ },
+ {
+ 80000,
+ -372.36,
+ -191.4,
+ -143.84,
+ },
+ {
+ 100000,
+ -372.94,
+ -191.98,
+ -140.94,
+ },
+ {
+ 120000,
+ -372.36,
+ -188.5,
+ -144.42,
+ },
+ {
+ 140000,
+ -374.68,
+ -187.92,
+ -145,
+ },
+ {
+ 160000,
+ -372.36,
+ -192.56,
+ -143.84,
+ },
+ {
+ 180000,
+ -374.68,
+ -192.56,
+ -143.26,
+ },
+ {
+ 200000,
+ -372.94,
+ -187.34,
+ -143.84,
+ },
+ {
+ 220000,
+ -375.84,
+ -192.56,
+ -143.26,
+ },
+ {
+ 240000,
+ -375.26,
+ -188.5,
+ -146.16,
+ },
+ {
+ 259999,
+ -377.58,
+ -190.82,
+ -146.16,
+ },
+ {
+ 280000,
+ -371.2,
+ -187.34,
+ -143.26,
+ },
+ {
+ 300000,
+ -374.68,
+ -193.14,
+ -145.58,
+ },
+ {
+ 320000,
+ -374.68,
+ -185.6,
+ -142.68,
+ },
+ {
+ 340000,
+ -374.1,
+ -188.5,
+ -143.84,
+ },
+ {
+ 360000,
+ -375.26,
+ -189.66,
+ -140.94,
+ },
+ {
+ 380000,
+ -374.68,
+ -191.98,
+ -145,
+ },
+ {
+ 400000,
+ -373.52,
+ -192.56,
+ -143.26,
+ },
+ {
+ 420000,
+ -372.94,
+ -191.4,
+ -140.36,
+ },
+ {
+ 440000,
+ -376.42,
+ -193.14,
+ -146.74,
+ },
+ {
+ 460000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 480000,
+ -373.52,
+ -190.24,
+ -143.26,
+ },
+ {
+ 500000,
+ -374.1,
+ -186.76,
+ -146.16,
+ },
+ {
+ 519999,
+ -371.2,
+ -187.34,
+ -145,
+ },
+ {
+ 540000,
+ -375.26,
+ -189.08,
+ -146.74,
+ },
+ {
+ 560000,
+ -375.26,
+ -186.18,
+ -145,
+ },
+ {
+ 580000,
+ -375.84,
+ -187.92,
+ -145.58,
+ },
+ {
+ 600000,
+ -372.36,
+ -190.24,
+ -145,
+ },
+ {
+ 620000,
+ -373.52,
+ -189.08,
+ -143.84,
+ },
+ {
+ 640000,
+ -372.94,
+ -186.18,
+ -146.16,
+ },
+ {
+ 660000,
+ -374.1,
+ -187.34,
+ -145,
+ },
+ {
+ 680000,
+ -373.52,
+ -187.34,
+ -142.1,
+ },
+ {
+ 700000,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 720000,
+ -369.46,
+ -189.08,
+ -145,
+ },
+ {
+ 740000,
+ -377,
+ -183.86,
+ -141.52,
+ },
+ {
+ 760000,
+ -378.16,
+ -187.92,
+ -144.42,
+ },
+ {
+ 780000,
+ -372.94,
+ -190.24,
+ -145,
+ },
+ {
+ 800000,
+ -375.26,
+ -190.82,
+ -145.58,
+ },
+ {
+ 820000,
+ -377.58,
+ -186.76,
+ -145,
+ },
+ {
+ 840000,
+ -375.84,
+ -191.98,
+ -145,
+ },
+ {
+ 860000,
+ -373.52,
+ -193.14,
+ -147.9,
+ },
+ {
+ 880000,
+ -372.94,
+ -188.5,
+ -142.68,
+ },
+ {
+ 900000,
+ -374.68,
+ -190.24,
+ -142.1,
+ },
+ {
+ 920000,
+ -372.36,
+ -193.14,
+ -147.32,
+ },
+ {
+ 940000,
+ -374.68,
+ -191.98,
+ -142.1,
+ },
+ {
+ 960000,
+ -376.42,
+ -187.92,
+ -142.1,
+ },
+ {
+ 980000,
+ -372.94,
+ -189.66,
+ -146.74,
+ },
+ {
+ 1000000,
+ -374.68,
+ -185.6,
+ -144.42,
+ },
+ {
+ 1020000,
+ -375.26,
+ -186.76,
+ -142.68,
+ },
+ {
+ 1039999,
+ -374.1,
+ -189.66,
+ -145.58,
+ },
+ {
+ 1060000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1080000,
+ -374.1,
+ -186.18,
+ -144.42,
+ },
+ {
+ 1100000,
+ -372.36,
+ -189.08,
+ -146.16,
+ },
+ {
+ 1120000,
+ -371.78,
+ -189.66,
+ -143.26,
+ },
+ {
+ 1140000,
+ -377,
+ -190.82,
+ -147.9,
+ },
+ {
+ 1160000,
+ -377.58,
+ -190.82,
+ -145,
+ },
+ {
+ 1180000,
+ -374.68,
+ -190.82,
+ -145,
+ },
+ {
+ 1200000,
+ -374.68,
+ -190.24,
+ -143.26,
+ },
+ {
+ 1220000,
+ -375.26,
+ -189.08,
+ -143.84,
+ },
+ {
+ 1240000,
+ -373.52,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1260000,
+ -371.78,
+ -187.92,
+ -146.16,
+ },
+ {
+ 1280000,
+ -374.68,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1300000,
+ -371.78,
+ -188.5,
+ -142.68,
+ },
+ {
+ 1320000,
+ -374.1,
+ -190.24,
+ -145,
+ },
+ {
+ 1340000,
+ -377.58,
+ -191.4,
+ -143.26,
+ },
+ {
+ 1360000,
+ -372.94,
+ -190.24,
+ -143.84,
+ },
+ {
+ 1380000,
+ -371.78,
+ -188.5,
+ -146.16,
+ },
+ {
+ 1400000,
+ -374.1,
+ -191.98,
+ -142.68,
+ },
+ {
+ 1420000,
+ -376.42,
+ -192.56,
+ -142.68,
+ },
+ {
+ 1440000,
+ -377.58,
+ -191.98,
+ -139.2,
+ },
+ {
+ 1460000,
+ -378.16,
+ -191.98,
+ -145,
+ },
+ {
+ 1480000,
+ -371.2,
+ -190.82,
+ -140.36,
+ },
+ {
+ 1500000,
+ -374.68,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1520000,
+ -374.1,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1540000,
+ -377,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1560000,
+ -373.52,
+ -190.82,
+ -139.2,
+ },
+ {
+ 1580000,
+ -374.68,
+ -188.5,
+ -140.36,
+ },
+ {
+ 1600000,
+ -374.1,
+ -191.4,
+ -142.1,
+ },
+ {
+ 1620000,
+ -375.26,
+ -188.5,
+ -141.52,
+ },
+ {
+ 1640000,
+ -374.68,
+ -189.08,
+ -141.52,
+ },
+ {
+ 1660000,
+ -374.1,
+ -189.66,
+ -139.78,
+ },
+ {
+ 1680000,
+ -376.42,
+ -189.08,
+ -140.94,
+ },
+ {
+ 1700000,
+ -372.36,
+ -190.82,
+ -141.52,
+ },
+ {
+ 1720000,
+ -375.26,
+ -189.66,
+ -136.3,
+ },
+ {
+ 1740000,
+ -377,
+ -189.66,
+ -142.1,
+ },
+ {
+ 1760000,
+ -377,
+ -190.24,
+ -140.94,
+ },
+ {
+ 1780000,
+ -379.9,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1800000,
+ -376.42,
+ -189.66,
+ -140.36,
+ },
+ {
+ 1820000,
+ -374.1,
+ -187.34,
+ -137.46,
+ },
+ {
+ 1840000,
+ -378.16,
+ -189.08,
+ -138.62,
+ },
+ {
+ 1860000,
+ -375.84,
+ -191.4,
+ -141.52,
+ },
+ {
+ 1880000,
+ -375.26,
+ -190.24,
+ -137.46,
+ },
+ {
+ 1900000,
+ -377,
+ -190.82,
+ -140.94,
+ },
+ {
+ 1920000,
+ -377,
+ -187.34,
+ -135.72,
+ },
+ {
+ 1940000,
+ -378.74,
+ -192.56,
+ -135.14,
+ },
+ {
+ 1960000,
+ -380.48,
+ -188.5,
+ -142.1,
+ },
+ {
+ 1980000,
+ -375.26,
+ -186.76,
+ -138.62,
+ },
+ {
+ 2000000,
+ -371.78,
+ -187.92,
+ -138.62,
+ },
+ {
+ 2020000,
+ -374.1,
+ -191.4,
+ -136.88,
+ },
+ {
+ 2040000,
+ -378.16,
+ -189.66,
+ -137.46,
+ },
+ {
+ 2060000,
+ -375.84,
+ -187.34,
+ -137.46,
+ },
+ {
+ 2079999,
+ -378.16,
+ -186.76,
+ -131.66,
+ },
+ {
+ 2100000,
+ -372.94,
+ -191.4,
+ -135.72,
+ },
+ {
+ 2120000,
+ -377,
+ -190.24,
+ -135.72,
+ },
+ {
+ 2140000,
+ -378.16,
+ -192.56,
+ -133.4,
+ },
+ {
+ 2160000,
+ -375.26,
+ -189.08,
+ -136.3,
+ },
+ {
+ 2180000,
+ -378.16,
+ -191.4,
+ -132.82,
+ },
+ {
+ 2200000,
+ -378.16,
+ -188.5,
+ -138.62,
+ },
+ {
+ 2220000,
+ -374.68,
+ -191.98,
+ -136.88,
+ },
+ {
+ 2240000,
+ -379.9,
+ -186.18,
+ -138.62,
+ },
+ {
+ 2260000,
+ -375.84,
+ -189.66,
+ -136.88,
+ },
+ {
+ 2280000,
+ -379.32,
+ -190.82,
+ -133.4,
+ },
+ {
+ 2300000,
+ -379.9,
+ -190.82,
+ -136.88,
+ },
+ {
+ 2320000,
+ -376.42,
+ -188.5,
+ -133.98,
+ },
+ {
+ 2340000,
+ -377,
+ -189.08,
+ -138.62,
+ },
+ {
+ 2360000,
+ -381.06,
+ -193.14,
+ -135.14,
+ },
+ {
+ 2380000,
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diff --git a/src/tests/catch/nas/data/mag/output.h b/src/tests/catch/nas/data/mag/output.h
new file mode 100644
index 0000000000000000000000000000000000000000..126481dc17aa2d1329f80212ed1d4dd24dfc3102
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/output.h
@@ -0,0 +1,2560 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+NASState mag_output[] = {
+ {20000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {40000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {60000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {80000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {259999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26681, 0.68151, 0.29633, 0, 0, 0}},
+ {500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {519999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {740000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {760000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {780000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {800000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {820000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {840000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {860000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {880000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {900000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {920000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {940000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {960000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {980000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1000000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1020000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1039999,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1060000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1080000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1100000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1120000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1140000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1160000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1180000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1200000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1220000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1240000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1260000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1280000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1300000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1320000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1340000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1360000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1380000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1400000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1420000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1440000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1460000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1480000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1500000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1520000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1540000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1560000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1580000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1600000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1620000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1640000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1660000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1680000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1700000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1720000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1740000,
+ {0, 0, -160, 0, 0, 0, -0.61363, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1760000,
+ {0, 0, -160, 0, 0, 0, -0.61362, 0.26682, 0.68151, 0.29633, 0, 0, 0}},
+ {1780000,
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+ {0, 0, -160, 0, 0, 0, -0.60729, 0.26739, 0.68531, 0.30009, 0, 0, 0}},
+ {23900000,
+ {0, 0, -160, 0, 0, 0, -0.60727, 0.2674, 0.68532, 0.3001, 0, 0, 0}},
+ {23920000,
+ {0, 0, -160, 0, 0, 0, -0.60724, 0.2674, 0.68533, 0.30012, 0, 0, 0}},
+ {23940000,
+ {0, 0, -160, 0, 0, 0, -0.60722, 0.2674, 0.68535, 0.30014, 0, 0, 0}},
+ {23960000,
+ {0, 0, -160, 0, 0, 0, -0.60719, 0.2674, 0.68536, 0.30016, 0, 0, 0}},
+ {23980000,
+ {0, 0, -160, 0, 0, 0, -0.60717, 0.2674, 0.68537, 0.30018, 0, 0, 0}},
+ {24000000,
+ {0, 0, -160, 0, 0, 0, -0.60715, 0.2674, 0.68539, 0.30019, 0, 0, 0}},
+ {24020000,
+ {0, 0, -160, 0, 0, 0, -0.60712, 0.2674, 0.6854, 0.30021, 0, 0, 0}},
+ {24040000,
+ {0, 0, -160, 0, 0, 0, -0.6071, 0.2674, 0.68541, 0.30023, 0, 0, 0}},
+ {24060000,
+ {0, 0, -160, 0, 0, 0, -0.60707, 0.2674, 0.68543, 0.30025, 0, 0, 0}},
+ {24080000,
+ {0, 0, -160, 0, 0, 0, -0.60705, 0.2674, 0.68544, 0.30027, 0, 0, 0}},
+ {24100000,
+ {0, 0, -160, 0, 0, 0, -0.60702, 0.2674, 0.68545, 0.30029, 0, 0, 0}},
+ {24120000,
+ {0, 0, -160, 0, 0, 0, -0.607, 0.2674, 0.68547, 0.30031, 0, 0, 0}},
+ {24140000,
+ {0, 0, -160, 0, 0, 0, -0.60698, 0.2674, 0.68548, 0.30032, 0, 0, 0}},
+ {24160000,
+ {0, 0, -160, 0, 0, 0, -0.60695, 0.26741, 0.68549, 0.30034, 0, 0, 0}},
+ {24180000,
+ {0, 0, -160, 0, 0, 0, -0.60693, 0.26741, 0.68551, 0.30036, 0, 0, 0}},
+ {24200000,
+ {0, 0, -160, 0, 0, 0, -0.6069, 0.26741, 0.68552, 0.30038, 0, 0, 0}},
+ {24220000,
+ {0, 0, -160, 0, 0, 0, -0.60688, 0.26741, 0.68553, 0.3004, 0, 0, 0}},
+ {24240000,
+ {0, 0, -160, 0, 0, 0, -0.60685, 0.26741, 0.68555, 0.30042, 0, 0, 0}},
+ {24260000,
+ {0, 0, -160, 0, 0, 0, -0.60682, 0.26741, 0.68556, 0.30044, 0, 0, 0}},
+ {24280000,
+ {0, 0, -160, 0, 0, 0, -0.6068, 0.26741, 0.68557, 0.30046, 0, 0, 0}},
+ {24300000,
+ {0, 0, -160, 0, 0, 0, -0.60677, 0.26741, 0.68559, 0.30048, 0, 0, 0}},
+ {24320000,
+ {0, 0, -160, 0, 0, 0, -0.60675, 0.26741, 0.6856, 0.3005, 0, 0, 0}},
+ {24340000,
+ {0, 0, -160, 0, 0, 0, -0.60672, 0.26741, 0.68561, 0.30052, 0, 0, 0}},
+ {24360000,
+ {0, 0, -160, 0, 0, 0, -0.6067, 0.26741, 0.68563, 0.30054, 0, 0, 0}},
+ {24380000,
+ {0, 0, -160, 0, 0, 0, -0.60667, 0.26741, 0.68564, 0.30056, 0, 0, 0}},
+ {24400000,
+ {0, 0, -160, 0, 0, 0, -0.60665, 0.26741, 0.68565, 0.30058, 0, 0, 0}},
+ {24420000,
+ {0, 0, -160, 0, 0, 0, -0.60662, 0.26741, 0.68567, 0.3006, 0, 0, 0}},
+ {24440000,
+ {0, 0, -160, 0, 0, 0, -0.60659, 0.26741, 0.68568, 0.30062, 0, 0, 0}},
+ {24460000,
+ {0, 0, -160, 0, 0, 0, -0.60657, 0.26741, 0.6857, 0.30064, 0, 0, 0}},
+ {24480000,
+ {0, 0, -160, 0, 0, 0, -0.60654, 0.26741, 0.68571, 0.30067, 0, 0, 0}},
+ {24500000,
+ {0, 0, -160, 0, 0, 0, -0.60651, 0.26741, 0.68572, 0.30069, 0, 0, 0}},
+ {24520000,
+ {0, 0, -160, 0, 0, 0, -0.60649, 0.26741, 0.68574, 0.30071, 0, 0, 0}},
+ {24540000,
+ {0, 0, -160, 0, 0, 0, -0.60646, 0.26742, 0.68575, 0.30073, 0, 0, 0}},
+ {24560000,
+ {0, 0, -160, 0, 0, 0, -0.60644, 0.26742, 0.68576, 0.30075, 0, 0, 0}},
+ {24580000,
+ {0, 0, -160, 0, 0, 0, -0.60641, 0.26742, 0.68578, 0.30077, 0, 0, 0}},
+ {24600000,
+ {0, 0, -160, 0, 0, 0, -0.60638, 0.26742, 0.68579, 0.3008, 0, 0, 0}},
+ {24620000,
+ {0, 0, -160, 0, 0, 0, -0.60636, 0.26742, 0.68581, 0.30082, 0, 0, 0}},
+ {24640000,
+ {0, 0, -160, 0, 0, 0, -0.60633, 0.26742, 0.68582, 0.30084, 0, 0, 0}},
+ {24660000,
+ {0, 0, -160, 0, 0, 0, -0.6063, 0.26742, 0.68583, 0.30086, 0, 0, 0}},
+ {24680000,
+ {0, 0, -160, 0, 0, 0, -0.60627, 0.26742, 0.68585, 0.30089, 0, 0, 0}},
+ {24700000,
+ {0, 0, -160, 0, 0, 0, -0.60625, 0.26742, 0.68586, 0.30091, 0, 0, 0}},
+ {24720000,
+ {0, 0, -160, 0, 0, 0, -0.60622, 0.26742, 0.68588, 0.30093, 0, 0, 0}},
+ {24740000,
+ {0, 0, -160, 0, 0, 0, -0.60619, 0.26742, 0.68589, 0.30095, 0, 0, 0}},
+ {24760000,
+ {0, 0, -160, 0, 0, 0, -0.60617, 0.26742, 0.6859, 0.30098, 0, 0, 0}},
+ {24780000,
+ {0, 0, -160, 0, 0, 0, -0.60614, 0.26742, 0.68592, 0.301, 0, 0, 0}},
+ {24800000,
+ {0, 0, -160, 0, 0, 0, -0.60611, 0.26742, 0.68593, 0.30102, 0, 0, 0}},
+ {24820000,
+ {0, 0, -160, 0, 0, 0, -0.60608, 0.26742, 0.68595, 0.30105, 0, 0, 0}},
+ {24840000,
+ {0, 0, -160, 0, 0, 0, -0.60606, 0.26742, 0.68596, 0.30107, 0, 0, 0}},
+ {24860000,
+ {0, 0, -160, 0, 0, 0, -0.60603, 0.26742, 0.68597, 0.30109, 0, 0, 0}},
+ {24880000,
+ {0, 0, -160, 0, 0, 0, -0.606, 0.26742, 0.68599, 0.30112, 0, 0, 0}},
+ {24900000,
+ {0, 0, -160, 0, 0, 0, -0.60597, 0.26742, 0.686, 0.30114, 0, 0, 0}},
+ {24920000,
+ {0, 0, -160, 0, 0, 0, -0.60595, 0.26741, 0.68602, 0.30117, 0, 0, 0}},
+ {24940000,
+ {0, 0, -160, 0, 0, 0, -0.60592, 0.26741, 0.68603, 0.30119, 0, 0, 0}},
+ {24960000,
+ {0, 0, -160, 0, 0, 0, -0.60589, 0.26741, 0.68604, 0.30122, 0, 0, 0}},
+ {24980000,
+ {0, 0, -160, 0, 0, 0, -0.60586, 0.26741, 0.68606, 0.30124, 0, 0, 0}},
+ {25000000,
+ {0, 0, -160, 0, 0, 0, -0.60583, 0.26741, 0.68607, 0.30127, 0, 0, 0}},
+ {25020000,
+ {0, 0, -160, 0, 0, 0, -0.60581, 0.26741, 0.68609, 0.30129, 0, 0, 0}},
+ {25040000,
+ {0, 0, -160, 0, 0, 0, -0.60578, 0.26741, 0.6861, 0.30132, 0, 0, 0}},
+ {25060000,
+ {0, 0, -160, 0, 0, 0, -0.60575, 0.26741, 0.68611, 0.30134, 0, 0, 0}},
+ {25080000,
+ {0, 0, -160, 0, 0, 0, -0.60572, 0.26741, 0.68613, 0.30137, 0, 0, 0}},
+ {25100000,
+ {0, 0, -160, 0, 0, 0, -0.60569, 0.26741, 0.68614, 0.30139, 0, 0, 0}},
+ {25120000,
+ {0, 0, -160, 0, 0, 0, -0.60566, 0.26741, 0.68616, 0.30142, 0, 0, 0}},
+ {25140000,
+ {0, 0, -160, 0, 0, 0, -0.60564, 0.26741, 0.68617, 0.30144, 0, 0, 0}},
+ {25160000,
+ {0, 0, -160, 0, 0, 0, -0.60561, 0.26741, 0.68618, 0.30147, 0, 0, 0}},
+ {25180000,
+ {0, 0, -160, 0, 0, 0, -0.60558, 0.26741, 0.6862, 0.3015, 0, 0, 0}},
+ {25200000,
+ {0, 0, -160, 0, 0, 0, -0.60555, 0.26741, 0.68621, 0.30152, 0, 0, 0}},
+ {25220000,
+ {0, 0, -160, 0, 0, 0, -0.60552, 0.26741, 0.68622, 0.30155, 0, 0, 0}},
+ {25240000,
+ {0, 0, -160, 0, 0, 0, -0.60549, 0.26741, 0.68624, 0.30158, 0, 0, 0}},
+ {25260000,
+ {0, 0, -160, 0, 0, 0, -0.60547, 0.26741, 0.68625, 0.3016, 0, 0, 0}},
+
+};
diff --git a/src/tests/catch/nas/data/mag/pitot.h b/src/tests/catch/nas/data/mag/pitot.h
new file mode 100644
index 0000000000000000000000000000000000000000..4f933ac668fbbb37f5a1a41e87fbf53789565420
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/pitot.h
@@ -0,0 +1,5087 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>
+
+using namespace Boardcore;
+
+PitotData mag_pitot[] = {
+ {
+ 20000,
+ 0,
+ },
+ {
+ 40000,
+ 0,
+ },
+ {
+ 60000,
+ 0,
+ },
+ {
+ 80000,
+ 0,
+ },
+ {
+ 100000,
+ 0,
+ },
+ {
+ 120000,
+ 0,
+ },
+ {
+ 140000,
+ 0,
+ },
+ {
+ 160000,
+ 6.4819,
+ },
+ {
+ 180000,
+ 6.4819,
+ },
+ {
+ 200000,
+ 0,
+ },
+ {
+ 220000,
+ 0,
+ },
+ {
+ 240000,
+ 0,
+ },
+ {
+ 259999,
+ 6.4819,
+ },
+ {
+ 280000,
+ 6.4819,
+ },
+ {
+ 300000,
+ 11.2259,
+ },
+ {
+ 320000,
+ 11.2259,
+ },
+ {
+ 340000,
+ 11.2259,
+ },
+ {
+ 360000,
+ 12.9636,
+ },
+ {
+ 380000,
+ 12.9636,
+ },
+ {
+ 400000,
+ 17.1491,
+ },
+ {
+ 420000,
+ 17.1491,
+ },
+ {
+ 440000,
+ 17.1491,
+ },
+ {
+ 460000,
+ 19.4435,
+ },
+ {
+ 480000,
+ 19.4435,
+ },
+ {
+ 500000,
+ 20.4917,
+ },
+ {
+ 519999,
+ 20.4917,
+ },
+ {
+ 540000,
+ 20.4917,
+ },
+ {
+ 560000,
+ 25.0947,
+ },
+ {
+ 580000,
+ 25.0947,
+ },
+ {
+ 600000,
+ 25.0947,
+ },
+ {
+ 620000,
+ 25.0947,
+ },
+ {
+ 640000,
+ 25.0947,
+ },
+ {
+ 660000,
+ 30.3854,
+ },
+ {
+ 680000,
+ 30.3854,
+ },
+ {
+ 700000,
+ 31.0629,
+ },
+ {
+ 720000,
+ 31.0629,
+ },
+ {
+ 740000,
+ 31.0629,
+ },
+ {
+ 760000,
+ 35.4786,
+ },
+ {
+ 780000,
+ 35.4786,
+ },
+ {
+ 800000,
+ 37.21,
+ },
+ {
+ 820000,
+ 37.21,
+ },
+ {
+ 840000,
+ 37.21,
+ },
+ {
+ 860000,
+ 40.9591,
+ },
+ {
+ 880000,
+ 40.9591,
+ },
+ {
+ 900000,
+ 42.467,
+ },
+ {
+ 920000,
+ 42.467,
+ },
+ {
+ 940000,
+ 42.467,
+ },
+ {
+ 960000,
+ 43.9119,
+ },
+ {
+ 980000,
+ 43.9119,
+ },
+ {
+ 1000000,
+ 48.0146,
+ },
+ {
+ 1020000,
+ 48.0146,
+ },
+ {
+ 1039999,
+ 48.0146,
+ },
+ {
+ 1060000,
+ 49.7211,
+ },
+ {
+ 1080000,
+ 49.7211,
+ },
+ {
+ 1100000,
+ 54.1519,
+ },
+ {
+ 1120000,
+ 54.1519,
+ },
+ {
+ 1140000,
+ 54.1519,
+ },
+ {
+ 1160000,
+ 54.528,
+ },
+ {
+ 1180000,
+ 54.528,
+ },
+ {
+ 1200000,
+ 58.5933,
+ },
+ {
+ 1220000,
+ 58.5933,
+ },
+ {
+ 1240000,
+ 58.5933,
+ },
+ {
+ 1260000,
+ 60.3474,
+ },
+ {
+ 1280000,
+ 60.3474,
+ },
+ {
+ 1300000,
+ 63.6928,
+ },
+ {
+ 1320000,
+ 63.6928,
+ },
+ {
+ 1340000,
+ 63.6928,
+ },
+ {
+ 1360000,
+ 66.8825,
+ },
+ {
+ 1380000,
+ 66.8825,
+ },
+ {
+ 1400000,
+ 68.7311,
+ },
+ {
+ 1420000,
+ 68.7311,
+ },
+ {
+ 1440000,
+ 68.7311,
+ },
+ {
+ 1460000,
+ 72.5625,
+ },
+ {
+ 1480000,
+ 72.5625,
+ },
+ {
+ 1500000,
+ 74.5183,
+ },
+ {
+ 1520000,
+ 74.5183,
+ },
+ {
+ 1540000,
+ 74.5183,
+ },
+ {
+ 1560000,
+ 77.8053,
+ },
+ {
+ 1580000,
+ 77.8053,
+ },
+ {
+ 1600000,
+ 80.6734,
+ },
+ {
+ 1620000,
+ 80.6734,
+ },
+ {
+ 1640000,
+ 80.6734,
+ },
+ {
+ 1660000,
+ 83.9298,
+ },
+ {
+ 1680000,
+ 83.9298,
+ },
+ {
+ 1700000,
+ 86.6089,
+ },
+ {
+ 1720000,
+ 86.6089,
+ },
+ {
+ 1740000,
+ 86.6089,
+ },
+ {
+ 1760000,
+ 88.9653,
+ },
+ {
+ 1780000,
+ 88.9653,
+ },
+ {
+ 1800000,
+ 92.5937,
+ },
+ {
+ 1820000,
+ 92.5937,
+ },
+ {
+ 1840000,
+ 92.5937,
+ },
+ {
+ 1860000,
+ 94.5692,
+ },
+ {
+ 1880000,
+ 94.5692,
+ },
+ {
+ 1900000,
+ 98.4202,
+ },
+ {
+ 1920000,
+ 98.4202,
+ },
+ {
+ 1940000,
+ 98.4202,
+ },
+ {
+ 1960000,
+ 100.8952,
+ },
+ {
+ 1980000,
+ 100.8952,
+ },
+ {
+ 2000000,
+ 104.2989,
+ },
+ {
+ 2020000,
+ 104.2989,
+ },
+ {
+ 2040000,
+ 104.2989,
+ },
+ {
+ 2060000,
+ 107.2133,
+ },
+ {
+ 2079999,
+ 107.2133,
+ },
+ {
+ 2100000,
+ 109.85,
+ },
+ {
+ 2120000,
+ 109.85,
+ },
+ {
+ 2140000,
+ 109.85,
+ },
+ {
+ 2160000,
+ 112.5865,
+ },
+ {
+ 2180000,
+ 112.5865,
+ },
+ {
+ 2200000,
+ 115.6301,
+ },
+ {
+ 2220000,
+ 115.6301,
+ },
+ {
+ 2240000,
+ 115.6301,
+ },
+ {
+ 2260000,
+ 118.7458,
+ },
+ {
+ 2280000,
+ 118.7458,
+ },
+ {
+ 2300000,
+ 121.8062,
+ },
+ {
+ 2320000,
+ 121.8062,
+ },
+ {
+ 2340000,
+ 121.8062,
+ },
+ {
+ 2360000,
+ 124.4366,
+ },
+ {
+ 2380000,
+ 124.4366,
+ },
+ {
+ 2400000,
+ 127.6663,
+ },
+ {
+ 2420000,
+ 127.6663,
+ },
+ {
+ 2440000,
+ 127.6663,
+ },
+ {
+ 2460000,
+ 130.5076,
+ },
+ {
+ 2480000,
+ 130.5076,
+ },
+ {
+ 2500000,
+ 132.921,
+ },
+ {
+ 2520000,
+ 132.921,
+ },
+ {
+ 2540000,
+ 132.921,
+ },
+ {
+ 2560000,
+ 136.0989,
+ },
+ {
+ 2580000,
+ 136.0989,
+ },
+ {
+ 2600000,
+ 138.723,
+ },
+ {
+ 2620000,
+ 138.723,
+ },
+ {
+ 2640000,
+ 138.723,
+ },
+ {
+ 2660000,
+ 142.0061,
+ },
+ {
+ 2680000,
+ 142.0061,
+ },
+ {
+ 2700000,
+ 145.2437,
+ },
+ {
+ 2720000,
+ 145.2437,
+ },
+ {
+ 2740000,
+ 145.2437,
+ },
+ {
+ 2760000,
+ 147.841,
+ },
+ {
+ 2780000,
+ 147.841,
+ },
+ {
+ 2800000,
+ 150.3895,
+ },
+ {
+ 2820000,
+ 150.3895,
+ },
+ {
+ 2840000,
+ 150.3895,
+ },
+ {
+ 2860000,
+ 153.4005,
+ },
+ {
+ 2880000,
+ 153.4005,
+ },
+ {
+ 2900000,
+ 156.3471,
+ },
+ {
+ 2920000,
+ 156.3471,
+ },
+ {
+ 2940000,
+ 156.3471,
+ },
+ {
+ 2960000,
+ 159.7578,
+ },
+ {
+ 2980000,
+ 159.7578,
+ },
+ {
+ 3000000,
+ 162.2,
+ },
+ {
+ 3020000,
+ 162.2,
+ },
+ {
+ 3040000,
+ 162.2,
+ },
+ {
+ 3060000,
+ 165.2456,
+ },
+ {
+ 3080000,
+ 165.2456,
+ },
+ {
+ 3100000,
+ 167.8267,
+ },
+ {
+ 3120000,
+ 167.8267,
+ },
+ {
+ 3140000,
+ 167.8267,
+ },
+ {
+ 3160000,
+ 170.8531,
+ },
+ {
+ 3180000,
+ 170.8531,
+ },
+ {
+ 3200000,
+ 173.7322,
+ },
+ {
+ 3220000,
+ 173.7322,
+ },
+ {
+ 3240000,
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+ },
+ {
+ 3260000,
+ 176.7322,
+ },
+ {
+ 3280000,
+ 176.7322,
+ },
+ {
+ 3300000,
+ 179.7184,
+ },
+ {
+ 3320000,
+ 179.7184,
+ },
+ {
+ 3340000,
+ 179.7184,
+ },
+ {
+ 3360000,
+ 182.5247,
+ },
+ {
+ 3380000,
+ 182.5247,
+ },
+ {
+ 3400000,
+ 185.3619,
+ },
+ {
+ 3420000,
+ 185.3619,
+ },
+ {
+ 3440000,
+ 185.3619,
+ },
+ {
+ 3460000,
+ 188.5172,
+ },
+ {
+ 3480000,
+ 188.5172,
+ },
+ {
+ 3500000,
+ 191.1774,
+ },
+ {
+ 3520000,
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+ },
+ {
+ 3540000,
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+ },
+ {
+ 3560000,
+ 194.3005,
+ },
+ {
+ 3580000,
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+ },
+ {
+ 3600000,
+ 196.516,
+ },
+ {
+ 3620000,
+ 196.516,
+ },
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diff --git a/src/tests/catch/nas/data/mag/steps.h b/src/tests/catch/nas/data/mag/steps.h
new file mode 100644
index 0000000000000000000000000000000000000000..9c7d18b459bbbf0e859a4f16d79e54414d2ae26e
--- /dev/null
+++ b/src/tests/catch/nas/data/mag/steps.h
@@ -0,0 +1,7613 @@
+/* Copyright (c) 2024 Skyward Experimental Rocketry
+ * Author: Davide Basso
+ *
+ * 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.
+ */
+
+/* This file was automatically generated, do not edit manually! */
+
+#include <algorithms/NAS/NASConfig.h>
+#include <algorithms/NAS/NASPredictionSteps.h>
+#include <algorithms/NAS/NASState.h>
+#include <sensors/SensorData.h>
+#include <sensors/analog/Pitot/PitotData.h>