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46 lines
1.4 KiB
C++
46 lines
1.4 KiB
C++
#pragma once
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#include "esphome/core/component.h"
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#include "esphome/components/sensor/sensor.h"
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#include <cmath>
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#include <vector>
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namespace esphome {
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namespace kalman_combinator {
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class KalmanCombinatorComponent : public Component, public sensor::Sensor {
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public:
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KalmanCombinatorComponent() = default;
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float get_setup_priority() const override { return esphome::setup_priority::DATA; }
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void dump_config() override;
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void setup() override;
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void add_source(Sensor *sensor, std::function<float(float)> const &stddev);
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void add_source(Sensor *sensor, float stddev);
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void set_process_std_dev(float process_std_dev) {
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this->update_variance_value_ = process_std_dev * process_std_dev * 0.001f;
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}
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void set_std_dev_sensor(Sensor *sensor) { this->std_dev_sensor_ = sensor; }
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private:
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void update_variance_();
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void correct_(float value, float stddev);
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// Source sensors and their error functions
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std::vector<std::pair<Sensor *, std::function<float(float)>>> sensors_;
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// Optional sensor for publishing the current error
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sensor::Sensor *std_dev_sensor_{nullptr};
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// Tick of the last update
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uint32_t last_update_{0};
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// Change of the variance, per ms
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float update_variance_value_{0.f};
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// Best guess for the state and its variance
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float state_{NAN};
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float variance_{INFINITY};
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};
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} // namespace kalman_combinator
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} // namespace esphome
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