ardupilot/libraries/AP_DCM/AP_DCM.h

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#ifndef AP_DCM_h
#define AP_DCM_h
// temporarily include all other classes here
// since this naming is a bit off from the
// convention and the AP_DCM should be the top
// header file
#include "AP_DCM_HIL.h"
#include "../FastSerial/FastSerial.h"
#include "../AP_Math/AP_Math.h"
#include <inttypes.h>
#include "../AP_Compass/AP_Compass.h"
#include "../AP_ADC/AP_ADC.h"
#include "../AP_GPS/AP_GPS.h"
#include "../AP_IMU/AP_IMU.h"
#if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h"
#else
#include "WProgram.h"
#endif
class AP_DCM
{
public:
// Constructors
AP_DCM(IMU *imu, GPS *&gps) :
_kp_roll_pitch(0.13),
_kp_yaw(0.8),
_gps(gps),
_imu(imu),
_dcm_matrix(1, 0, 0,
0, 1, 0,
0, 0, 1),
_health(1.),
_toggle(0)
{
// 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();
_ki_roll_pitch = _gyro_drift_limit * 3;
_ki_yaw = _gyro_drift_limit * 4;
}
// Accessors
// return the smoothed gyro vector corrected for drift
Vector3f get_gyro(void) {return _omega_smoothed; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
// return the current drift correction integrator value
Vector3f get_gyro_drift(void) {return _omega_I; }
float get_health(void) {return _health;}
void set_centripetal(bool b) {_centripetal = b;}
bool get_centripetal(void) {return _centripetal;}
void set_compass(Compass *compass);
// Methods
void update_DCM(uint8_t drift_correction_frequency=1);
void update(void) { update_DCM(); }
void matrix_reset(bool recover_eulers = false);
long roll_sensor; // Degrees * 100
long pitch_sensor; // Degrees * 100
long yaw_sensor; // Degrees * 100
float roll; // Radians
float pitch; // Radians
float yaw; // Radians
uint8_t gyro_sat_count;
uint8_t renorm_range_count;
uint8_t renorm_blowup_count;
// status reporting
float get_accel_weight(void);
float get_renorm_val(void);
float get_error_rp(void);
float get_error_yaw(void);
private:
float _kp_roll_pitch;
float _ki_roll_pitch;
float _kp_yaw;
float _ki_yaw;
float _gyro_drift_limit; // radians/s/s
bool _have_initial_yaw;
// Methods
void read_adc_raw(void);
void accel_adjust(Vector3f &accel);
float read_adc(int select);
void matrix_update(float _G_Dt);
void normalize(void);
void check_matrix(void);
bool renorm(Vector3f const &a, Vector3f &result);
void drift_correction(float deltat);
void euler_angles(void);
// members
Compass * _compass;
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing.
GPS *&_gps; // note: this is a reference to a pointer owned by the caller
IMU *_imu;
Matrix3f _dcm_matrix;
// sum of accel vectors between drift_correction() calls
// this allows the drift correction to run at a different rate
// to the main DCM update code
Vector3f _accel_vector;
Vector3f _accel_sum;
Vector3f _gyro_vector; // Store the gyros turn rate in a vector
Vector3f _omega_P; // accel Omega Proportional correction
Vector3f _omega_yaw_P; // yaw Omega Proportional correction
Vector3f _omega_I; // Omega Integrator correction
Vector3f _omega_integ_corr; // Partially corrected Gyro_Vector data - used for centrepetal correction
Vector3f _omega; // Corrected Gyro_Vector data
Vector3f _omega_sum;
Vector3f _omega_smoothed;
float _health;
bool _centripetal;
uint8_t _toggle;
// state to support status reporting
float _renorm_val_sum;
uint16_t _renorm_val_count;
float _error_rp_sum;
uint16_t _error_rp_count;
float _error_yaw_sum;
uint16_t _error_yaw_count;
// time in micros when we last got a compass fix
uint32_t _compass_last_update;
// time in millis when we last got a GPS heading
uint32_t _gps_last_update;
// counter of calls to update_DCM() without drift correction
uint8_t _drift_correction_count;
float _drift_correction_time;
};
#endif