mirror of https://github.com/ArduPilot/ardupilot
32 lines
1.2 KiB
C
32 lines
1.2 KiB
C
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/*
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* This file is free software: you can redistribute it and/or modify it
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* under the terms of the GNU General Public License as published by the
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* Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This file is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along
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* with this program. If not, see <http://www.gnu.org/licenses/>.
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*
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*/
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class simpleRover {
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public:
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struct simpleRoverState {
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double timestamp = 0;
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double gyro_x, gyro_y, gyro_z = 0; // rad/sec
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double accel_x, accel_y, accel_z = 0; // m/s^2
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double pos_x, pos_y, pos_z = 0; // m in inertial frame
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double phi, theta, psi = 0; // attitude radians
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double V_x, V_y, V_z = 0; // m/s in inertial frame
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} state, old_state;
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bool update(simpleRover &rover, uint16_t servo_out[]);
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private:
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double _interp1D(const double &x, const double &x0, const double &x1, const double &y0, const double &y1);
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};
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