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https://github.com/ArduPilot/ardupilot
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AP_AHRS: move DCM parameters into DCM header
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@ -430,23 +430,6 @@ protected:
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// multi-thread access support
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// multi-thread access support
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HAL_Semaphore _rsem;
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HAL_Semaphore _rsem;
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// settable parameters
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// these are public for ArduCopter
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AP_Float _kp_yaw;
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AP_Float _kp;
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AP_Float gps_gain;
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AP_Float beta;
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enum class GPSUse : uint8_t {
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Disable = 0,
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Enable = 1,
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EnableWithHeight = 2,
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};
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AP_Enum<GPSUse> _gps_use;
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AP_Int8 _gps_minsats;
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Matrix3f _custom_rotation;
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Matrix3f _custom_rotation;
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// calculate sin/cos of roll/pitch/yaw from rotation
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// calculate sin/cos of roll/pitch/yaw from rotation
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@ -125,7 +125,25 @@ public:
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bool get_relative_position_NED_origin(Vector3f &vec) const override;
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bool get_relative_position_NED_origin(Vector3f &vec) const override;
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bool get_relative_position_NE_origin(Vector2f &posNE) const override;
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bool get_relative_position_NE_origin(Vector2f &posNE) const override;
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bool get_relative_position_D_origin(float &posD) const override;
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bool get_relative_position_D_origin(float &posD) const override;
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protected:
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// settable parameters
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AP_Float _kp_yaw;
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AP_Float _kp;
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AP_Float gps_gain;
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AP_Float beta;
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enum class GPSUse : uint8_t {
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Disable = 0,
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Enable = 1,
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EnableWithHeight = 2,
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};
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AP_Enum<GPSUse> _gps_use;
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AP_Int8 _gps_minsats;
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private:
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private:
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// these are experimentally derived from the simulator
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// these are experimentally derived from the simulator
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