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AP_AHRS: move DCM parameters into DCM header

This commit is contained in:
Peter Barker 2021-08-20 12:52:20 +10:00 committed by Andrew Tridgell
parent 74709c6292
commit 645a5302d0
2 changed files with 19 additions and 18 deletions
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17
libraries/AP_AHRS/AP_AHRS_Backend.h
View File

@ -430,23 +430,6 @@ protected:
// multi-thread access support
HAL_Semaphore _rsem;
// settable parameters
// these are public for ArduCopter
AP_Float _kp_yaw;
AP_Float _kp;
AP_Float gps_gain;
AP_Float beta;
enum class GPSUse : uint8_t {
Disable = 0,
Enable = 1,
EnableWithHeight = 2,
};
AP_Enum<GPSUse> _gps_use;
AP_Int8 _gps_minsats;
Matrix3f _custom_rotation;
// calculate sin/cos of roll/pitch/yaw from rotation

20
libraries/AP_AHRS/AP_AHRS_DCM.h
View File

@ -125,7 +125,25 @@ public:
bool get_relative_position_NED_origin(Vector3f &vec) const override;
bool get_relative_position_NE_origin(Vector2f &posNE) const override;
bool get_relative_position_D_origin(float &posD) const override;
protected:
// settable parameters
AP_Float _kp_yaw;
AP_Float _kp;
AP_Float gps_gain;
AP_Float beta;
enum class GPSUse : uint8_t {
Disable = 0,
Enable = 1,
EnableWithHeight = 2,
};
AP_Enum<GPSUse> _gps_use;
AP_Int8 _gps_minsats;
private:
// these are experimentally derived from the simulator