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AP_InertialNav: added AP_InertialNav_NavEKF wrapper class

This commit is contained in:
Andrew Tridgell 2014-01-03 22:57:50 +11:00
parent 686d1b9124
commit 658110dd8c
3 changed files with 242 additions and 0 deletions
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4
libraries/AP_InertialNav/AP_InertialNav.h
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@ -308,4 +308,8 @@ protected:
}; };
#if AP_AHRS_NAVEKF_AVAILABLE
#include "AP_InertialNav_NavEKF.h"
#endif
#endif // __AP_INERTIALNAV_H__ #endif // __AP_INERTIALNAV_H__

132
libraries/AP_InertialNav/AP_InertialNav_NavEKF.cpp Normal file
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@ -0,0 +1,132 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "AP_InertialNav.h"
#if AP_AHRS_NAVEKF_AVAILABLE
/*
A wrapper around the AP_InertialNav class which uses the NavEKF
filter if available, and falls back to the AP_InertialNav filter
when EKF is not available
*/
/**
* initializes the object.
*/
void AP_InertialNav_NavEKF::init()
{
AP_InertialNav::init();
}
/**
* position_ok - true if inertial based altitude and position can be trusted
* @return
*/
bool AP_InertialNav_NavEKF::position_ok() const
{
return AP_InertialNav::position_ok();
}
/**
* get_position - returns the current position relative to the home location in cm.
*
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
*
* @return
*/
const Vector3f &AP_InertialNav_NavEKF::get_position(void) const
{
return AP_InertialNav::get_position();
}
/**
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
int32_t AP_InertialNav_NavEKF::get_latitude() const
{
return AP_InertialNav::get_latitude();
}
/**
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
int32_t AP_InertialNav_NavEKF::get_longitude() const
{
return AP_InertialNav::get_longitude();
}
/**
* get_latitude_diff - returns the current latitude difference from the home location.
*
* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
float AP_InertialNav_NavEKF::get_latitude_diff() const
{
return AP_InertialNav::get_latitude_diff();
}
/**
* get_longitude_diff - returns the current longitude difference from the home location.
*
* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
float AP_InertialNav_NavEKF::get_longitude_diff() const
{
return AP_InertialNav::get_longitude_diff();
}
/**
* get_velocity - returns the current velocity in cm/s
*
* @return velocity vector:
* .x : latitude velocity in cm/s
* .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s
*/
const Vector3f &AP_InertialNav_NavEKF::get_velocity() const
{
return AP_InertialNav::get_velocity();
}
/**
* get_velocity_xy - returns the current horizontal velocity in cm/s
*
* @returns the current horizontal velocity in cm/s
*/
float AP_InertialNav_NavEKF::get_velocity_xy()
{
return AP_InertialNav::get_velocity_xy();
}
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted
* @return
*/
bool AP_InertialNav_NavEKF::altitude_ok() const
{
return AP_InertialNav::altitude_ok();
}
/**
* get_altitude - get latest altitude estimate in cm
* @return
*/
float AP_InertialNav_NavEKF::get_altitude() const
{
return AP_InertialNav::get_altitude();
}
/**
* get_velocity_z - returns the current climbrate.
*
* @see get_velocity().z
*
* @return climbrate in cm/s
*/
float AP_InertialNav_NavEKF::get_velocity_z() const
{
return AP_InertialNav::get_velocity_z();
}
#endif // AP_AHRS_NAVEKF_AVAILABLE

106
libraries/AP_InertialNav/AP_InertialNav_NavEKF.h Normal file
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@ -0,0 +1,106 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
A wrapper around the AP_InertialNav class which uses the NavEKF
filter if available, and falls back to the AP_InertialNav filter
when EKF is not available
*/
#ifndef __AP_INERTIALNAV_NAVEKF_H__
#define __AP_INERTIALNAV_NAVEKF_H__
class AP_InertialNav_NavEKF : public AP_InertialNav
{
public:
// Constructor
AP_InertialNav_NavEKF(const AP_AHRS &ahrs, AP_Baro &baro, GPS*& gps, GPS_Glitch& gps_glitch ) :
AP_InertialNav(ahrs, baro, gps, gps_glitch)
{
}
/**
* initializes the object.
*/
void init();
/**
* position_ok - true if inertial based altitude and position can be trusted
* @return
*/
bool position_ok() const;
/**
* get_position - returns the current position relative to the home location in cm.
*
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
*
* @return
*/
const Vector3f& get_position() const;
/**
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
int32_t get_latitude() const;
/**
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
* @return
*/
int32_t get_longitude() const;
/**
* get_latitude_diff - returns the current latitude difference from the home location.
*
* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
float get_latitude_diff() const;
/**
* get_longitude_diff - returns the current longitude difference from the home location.
*
* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
*/
float get_longitude_diff() const;
/**
* get_velocity - returns the current velocity in cm/s
*
* @return velocity vector:
* .x : latitude velocity in cm/s
* .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s
*/
const Vector3f& get_velocity() const;
/**
* get_velocity_xy - returns the current horizontal velocity in cm/s
*
* @returns the current horizontal velocity in cm/s
*/
float get_velocity_xy();
/**
* altitude_ok - returns true if inertial based altitude and position can be trusted
* @return
*/
bool altitude_ok() const;
/**
* get_altitude - get latest altitude estimate in cm
* @return
*/
float get_altitude() const;
/**
* get_velocity_z - returns the current climbrate.
*
* @see get_velocity().z
*
* @return climbrate in cm/s
*/
float get_velocity_z() const;
};
#endif // __AP_INERTIALNAV_NAVEKF_H__