ardupilot/libraries/AP_AHRS/AP_AHRS.h

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#ifndef AP_AHRS_H
#define AP_AHRS_H
/*
AHRS (Attitude Heading Reference System) interface for ArduPilot
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
*/
#include <AP_Math.h>
#include <inttypes.h>
#include <AP_Compass.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
class AP_AHRS
{
public:
// Constructor
AP_AHRS(IMU *imu, GPS *&gps):
_imu(imu),
_gps(gps)
{
// base the ki values by the sensors maximum drift
// rate. The APM2 has gyros which are much less drift
// prone than the APM1, so we should have a lower ki,
// which will make us less prone to increasing omegaI
// incorrectly due to sensor noise
_gyro_drift_limit = imu->get_gyro_drift_rate();
}
// Accessors
void set_fly_forward(bool b) { _fly_forward = b; }
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void set_compass(Compass *compass) { _compass = compass; }
// Methods
virtual void update(void) = 0;
// Euler angles (radians)
float roll;
float pitch;
float yaw;
// integer Euler angles (Degrees * 100)
int32_t roll_sensor;
int32_t pitch_sensor;
int32_t yaw_sensor;
// return a smoothed and corrected gyro vector
virtual Vector3f get_gyro(void) = 0;
// return the current estimate of the gyro drift
virtual Vector3f get_gyro_drift(void) = 0;
// reset the current attitude, used on new IMU calibration
virtual void reset(bool recover_eulers=false) = 0;
// how often our attitude representation has gone out of range
uint8_t renorm_range_count;
// how often our attitude representation has blown up completely
uint8_t renorm_blowup_count;
// return the average size of the roll/pitch error estimate
// since last call
virtual float get_error_rp(void) = 0;
// return the average size of the yaw error estimate
// since last call
virtual float get_error_yaw(void) = 0;
// return a DCM rotation matrix representing our current
// attitude
virtual Matrix3f get_dcm_matrix(void) = 0;
static const struct AP_Param::GroupInfo var_info[];
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protected:
// pointer to compass object, if enabled
Compass * _compass;
// time in microseconds of last compass update
uint32_t _compass_last_update;
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing.
IMU *_imu;
GPS *&_gps;
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// true if we can assume the aircraft will be flying forward
// on its X axis
bool _fly_forward;
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// the limit of the gyro drift claimed by the sensors, in
// radians/s/s
float _gyro_drift_limit;
// acceleration due to gravity in m/s/s
static const float _gravity = 9.80665;
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};
#include <AP_AHRS_DCM.h>
#include <AP_AHRS_Quaternion.h>
#include <AP_AHRS_HIL.h>
#endif // AP_AHRS_H