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AP_AHRS: removed unused AP_AHRS_HIL

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This commit is contained in:
Andrew Tridgell 2014-01-02 16:30:27 +11:00
parent 082a3561c4
commit 6e5077b60b
3 changed files with 0 additions and 104 deletions
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1
libraries/AP_AHRS/AP_AHRS.h
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@ -330,6 +330,5 @@ protected:
#include <AP_AHRS_DCM.h>
#include <AP_AHRS_NavEKF.h>
#include <AP_AHRS_HIL.h>
#endif // __AP_AHRS_H__

47
libraries/AP_AHRS/AP_AHRS_HIL.cpp
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@ -1,47 +0,0 @@
/*
* APM_AHRS_HIL.cpp
*
* Hardware in the loop AHRS object
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <AP_AHRS.h>
/**************************************************/
void
AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw,
float _rollRate, float _pitchRate, float _yawRate)
{
roll = _roll;
pitch = _pitch;
yaw = _yaw;
_omega(_rollRate, _pitchRate, _yawRate);
roll_sensor = ToDeg(roll)*100;
pitch_sensor = ToDeg(pitch)*100;
yaw_sensor = ToDeg(yaw)*100;
_dcm_matrix.from_euler(roll, pitch, yaw);
// update trig values including _cos_roll, cos_pitch
update_trig();
}
// reset the current attitude, used by HIL
void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
{
// not implemented - use setHil()
}

56
libraries/AP_AHRS/AP_AHRS_HIL.h
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@ -1,56 +0,0 @@
#ifndef __AP_AHRS_HIL_H__
#define __AP_AHRS_HIL_H__
class AP_AHRS_HIL : public AP_AHRS
{
public:
// Constructors
AP_AHRS_HIL(AP_InertialSensor &ins, GPS *&gps) :
AP_AHRS(ins, gps),
_drift()
{}
// Accessors
const Vector3f get_gyro(void) const {
return _omega;
}
const Matrix3f &get_dcm_matrix(void) const {
return _dcm_matrix;
}
// Methods
void update(void) {
_ins.update();
}
void setHil(float roll, float pitch, float yaw,
float rollRate, float pitchRate, float yawRate);
// return the current estimate of the gyro drift
const Vector3f &get_gyro_drift(void) const {
return _drift;
}
// reset the current attitude, used on new IMU calibration
void reset(bool recover_eulers=false) {
}
void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) {
// not implemented - use setHil()
}
float get_error_rp(void) {
return 0;
}
float get_error_yaw(void) {
return 0;
}
private:
Vector3f _omega;
Matrix3f _dcm_matrix;
Vector3f _drift;
};
#endif // __AP_AHRS_HIL_H__