ardupilot/libraries/AP_AHRS/AP_AHRS_View.h

194 lines
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C
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#pragma once
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AHRS View class - for creating a 2nd view of the vehicle attitude
*
*/
#include "AP_AHRS.h"
class AP_AHRS_View
{
public:
// Constructor
AP_AHRS_View(AP_AHRS &ahrs, enum Rotation rotation, float pitch_trim_deg=0);
// update state
void update(bool skip_ins_update=false);
// empty virtual destructor
virtual ~AP_AHRS_View() {}
// return a smoothed and corrected gyro vector
const Vector3f &get_gyro(void) const {
return gyro;
}
// return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
Vector3f get_gyro_latest(void) const;
// return a DCM rotation matrix representing our current
// attitude in this view
const Matrix3f &get_rotation_body_to_ned(void) const {
return rot_body_to_ned;
}
// helper trig value accessors
float cos_roll() const {
return trig.cos_roll;
}
float cos_pitch() const {
return trig.cos_pitch;
}
float cos_yaw() const {
return trig.cos_yaw;
}
float sin_roll() const {
return trig.sin_roll;
}
float sin_pitch() const {
return trig.sin_pitch;
}
float sin_yaw() const {
return trig.sin_yaw;
}
/*
wrappers around ahrs functions which pass-thru directly. See
AP_AHRS.h for description of each function
*/
bool get_position(struct Location &loc) const {
return ahrs.get_position(loc);
}
Vector3f wind_estimate(void) {
return ahrs.wind_estimate();
}
bool airspeed_estimate(float *airspeed_ret) const {
return ahrs.airspeed_estimate(airspeed_ret);
}
bool airspeed_estimate_true(float *airspeed_ret) const {
return ahrs.airspeed_estimate_true(airspeed_ret);
}
float get_EAS2TAS(void) const {
return ahrs.get_EAS2TAS();
}
Vector2f groundspeed_vector(void) {
return ahrs.groundspeed_vector();
}
bool get_velocity_NED(Vector3f &vec) const {
return ahrs.get_velocity_NED(vec);
}
bool get_expected_mag_field_NED(Vector3f &ret) const {
return ahrs.get_expected_mag_field_NED(ret);
}
bool get_relative_position_NED_home(Vector3f &vec) const {
return ahrs.get_relative_position_NED_home(vec);
}
bool get_relative_position_NED_origin(Vector3f &vec) const {
return ahrs.get_relative_position_NED_origin(vec);
}
bool get_relative_position_NE_home(Vector2f &vecNE) const {
return ahrs.get_relative_position_NE_home(vecNE);
}
bool get_relative_position_NE_origin(Vector2f &vecNE) const {
return ahrs.get_relative_position_NE_origin(vecNE);
}
void get_relative_position_D_home(float &posD) const {
ahrs.get_relative_position_D_home(posD);
}
bool get_relative_position_D_origin(float &posD) const {
return ahrs.get_relative_position_D_origin(posD);
}
float groundspeed(void) {
return ahrs.groundspeed();
}
const Vector3f &get_accel_ef_blended(void) const {
return ahrs.get_accel_ef_blended();
}
uint32_t getLastPosNorthEastReset(Vector2f &pos) const {
return ahrs.getLastPosNorthEastReset(pos);
}
uint32_t getLastPosDownReset(float &posDelta) const {
return ahrs.getLastPosDownReset(posDelta);
}
// rotate a 2D vector from earth frame to body frame
// in result, x is forward, y is right
Vector2f rotate_earth_to_body2D(const Vector2f &ef_vector) const;
// rotate a 2D vector from earth frame to body frame
// in input, x is forward, y is right
Vector2f rotate_body_to_earth2D(const Vector2f &bf) const;
// return the average size of the roll/pitch error estimate
// since last call
float get_error_rp(void) const {
return ahrs.get_error_rp();
}
// return the average size of the yaw error estimate
// since last call
float get_error_yaw(void) const {
return ahrs.get_error_yaw();
}
float roll;
float pitch;
float yaw;
int32_t roll_sensor;
int32_t pitch_sensor;
int32_t yaw_sensor;
private:
const enum Rotation rotation;
AP_AHRS &ahrs;
Matrix3f rot_view;
Matrix3f rot_body_to_ned;
Vector3f gyro;
struct {
float cos_roll;
float cos_pitch;
float cos_yaw;
float sin_roll;
float sin_pitch;
float sin_yaw;
} trig;
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float y_angle;
};