mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.8 KiB
C++
54 lines
1.8 KiB
C++
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/*
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APM_DCM_HIL.cpp - DCM AHRS Library, for Ardupilot Mega, Hardware in the Loop Model
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Code by James Goppert. DIYDrones.com
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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Methods:
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update_DCM(_G_Dt) : Updates the AHRS by integrating the rotation matrix over time _G_Dt using the IMU object data
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get_gyro() : Returns gyro vector corrected for bias
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get_accel() : Returns accelerometer vector
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get_dcm_matrix() : Returns dcm matrix
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*/
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#include <AP_DCM_HIL.h>
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#define ToRad(x) (x*0.01745329252) // *pi/180
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#define ToDeg(x) (x*57.2957795131) // *180/pi
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/**************************************************/
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void
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AP_DCM_HIL::setHil(float _roll, float _pitch, float _yaw,
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float _rollRate, float _pitchRate, float _yawRate)
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{
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roll = _roll;
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pitch = _pitch;
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yaw = _yaw;
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_omega_integ_corr.x = _rollRate;
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_omega_integ_corr.y = _pitchRate;
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_omega_integ_corr.z = _yawRate;
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roll_sensor =ToDeg(roll)*100;
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pitch_sensor =ToDeg(pitch)*100;
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yaw_sensor =ToDeg(yaw)*100;
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// Need the standard C_body<-nav dcm from navigation frame to body frame
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// Strapdown Inertial Navigation Technology / Titterton/ pg. 41
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float sRoll = sin(roll), cRoll = cos(roll);
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float sPitch = sin(pitch), cPitch = cos(pitch);
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float sYaw = sin(yaw), cYaw = cos(yaw);
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_dcm_matrix.a.x = cPitch*cYaw;
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_dcm_matrix.a.y = cPitch*sYaw;
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_dcm_matrix.a.z = -sPitch;
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_dcm_matrix.b.x = -cRoll*sYaw+sRoll*sPitch*cYaw;
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_dcm_matrix.b.y = cRoll*cYaw+sRoll*sPitch*sYaw;
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_dcm_matrix.b.z = sRoll*cPitch;
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_dcm_matrix.c.x = sRoll*sYaw+cRoll*sPitch*cYaw;
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_dcm_matrix.c.y = -sRoll*cYaw+cRoll*sPitch*sYaw;
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_dcm_matrix.c.z = cRoll*cPitch;
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}
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