ardupilot/libraries/AP_AHRS/AP_AHRS_NavEKF.h

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#ifndef __AP_AHRS_NAVEKF_H__
#define __AP_AHRS_NAVEKF_H__
/*
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/>.
*/
/*
* NavEKF based AHRS (Attitude Heading Reference System) interface for
* ArduPilot
*
*/
#include <AP_HAL.h>
#include <AP_AHRS.h>
#if HAL_CPU_CLASS >= HAL_CPU_CLASS_150
#include <AP_NavEKF.h>
#define AP_AHRS_NAVEKF_AVAILABLE 1
#define AP_AHRS_NAVEKF_SETTLE_TIME_MS 20000 // time in milliseconds the ekf needs to settle after being started
class AP_AHRS_NavEKF : public AP_AHRS_DCM
{
public:
// Constructor
AP_AHRS_NavEKF(AP_InertialSensor &ins, AP_Baro &baro, AP_GPS &gps, RangeFinder &rng, NavEKF &_EKF) :
AP_AHRS_DCM(ins, baro, gps),
EKF(_EKF),
ekf_started(false),
startup_delay_ms(1000),
start_time_ms(0)
{
}
// return the smoothed gyro vector corrected for drift
const Vector3f &get_gyro(void) const;
const Matrix3f &get_dcm_matrix(void) const;
// return the current drift correction integrator value
const Vector3f &get_gyro_drift(void) const;
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// reset the current gyro drift estimate
// should be called if gyro offsets are recalculated
void reset_gyro_drift(void);
void update(void);
void reset(bool recover_eulers = false);
// reset the current attitude, used on new IMU calibration
void reset_attitude(const float &roll, const float &pitch, const float &yaw);
// dead-reckoning support
bool get_position(struct Location &loc) const;
// status reporting of estimated error
float get_error_rp(void) const;
float get_error_yaw(void) const;
// return a wind estimation vector, in m/s
Vector3f wind_estimate(void);
// return an airspeed estimate if available. return true
// if we have an estimate
bool airspeed_estimate(float *airspeed_ret) const;
// true if compass is being used
bool use_compass(void);
NavEKF &get_NavEKF(void) { return EKF; }
const NavEKF &get_NavEKF_const(void) const { return EKF; }
// return secondary attitude solution if available, as eulers in radians
bool get_secondary_attitude(Vector3f &eulers);
// return secondary position solution if available
bool get_secondary_position(struct Location &loc);
// EKF has a better ground speed vector estimate
Vector2f groundspeed_vector(void);
const Vector3f &get_accel_ef(uint8_t i) const;
const Vector3f &get_accel_ef() const { return get_accel_ef(_ins.get_primary_accel()); };
// blended accelerometer values in the earth frame in m/s/s
const Vector3f &get_accel_ef_blended(void) const;
// set home location
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void set_home(const Location &loc);
bool have_inertial_nav(void) const;
bool get_velocity_NED(Vector3f &vec) const;
bool get_relative_position_NED(Vector3f &vec) const;
// write optical flow measurements to EKF
void writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, Vector2f &rawGyroRates, uint32_t &msecFlowMeas);
// inibit GPS useage
uint8_t setInhibitGPS(void);
// get speed limit
void getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler);
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void set_ekf_use(bool setting);
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// is the AHRS subsystem healthy?
bool healthy(void) const;
// true if the AHRS has completed initialisation
bool initialised(void) const;
// get compass offset estimates
// true if offsets are valid
bool getMagOffsets(Vector3f &magOffsets);
private:
bool using_EKF(void) const;
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NavEKF &EKF;
bool ekf_started;
Matrix3f _dcm_matrix;
Vector3f _dcm_attitude;
Vector3f _gyro_bias;
Vector3f _gyro_estimate;
Vector3f _accel_ef_ekf[INS_MAX_INSTANCES];
Vector3f _accel_ef_ekf_blended;
const uint16_t startup_delay_ms;
uint32_t start_time_ms;
};
#endif
#endif // __AP_AHRS_NAVEKF_H__