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AP_AHRS: added get_DCM_rotation_body_to_ned()

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this specifically asks for the DCM attitude, which will be used for
the comass calibration to help determine compass orientation
This commit is contained in:
Andrew Tridgell 2018-07-16 18:19:10 +10:00
parent 5b0b9ef962
commit 1056e64419
2 changed files with 6 additions and 0 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -263,6 +263,9 @@ public:
const Matrix3f& get_rotation_autopilot_body_to_vehicle_body(void) const { return _rotation_autopilot_body_to_vehicle_body; }
const Matrix3f& get_rotation_vehicle_body_to_autopilot_body(void) const { return _rotation_vehicle_body_to_autopilot_body; }
// get rotation matrix specifically from DCM backend (used for compass calibrator)
virtual const Matrix3f &get_DCM_rotation_body_to_ned(void) const = 0;
// get our current position estimate. Return true if a position is available,
// otherwise false. This call fills in lat, lng and alt
virtual bool get_position(struct Location &loc) const = 0;

3
libraries/AP_AHRS/AP_AHRS_DCM.h
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@ -53,6 +53,9 @@ public:
return _body_dcm_matrix;
}
// get rotation matrix specifically from DCM backend (used for compass calibrator)
const Matrix3f &get_DCM_rotation_body_to_ned(void) const override { return _body_dcm_matrix; }
// return the current drift correction integrator value
const Vector3f &get_gyro_drift() const override {
return _omega_I;