mirror of https://github.com/ArduPilot/ardupilot
AP_AHRS: added attitude_reset() method for HIL_SENSORS
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@ -117,6 +117,9 @@ public:
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// reset the current attitude, used on new IMU calibration
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// reset the current attitude, used on new IMU calibration
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virtual void reset(bool recover_eulers=false) = 0;
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virtual void reset(bool recover_eulers=false) = 0;
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// reset the current attitude, used on new IMU calibration
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virtual void reset_attitude(const float &roll, const float &pitch, const float &yaw) = 0;
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// how often our attitude representation has gone out of range
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// how often our attitude representation has gone out of range
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uint8_t renorm_range_count;
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uint8_t renorm_range_count;
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@ -117,6 +117,12 @@ AP_AHRS_DCM::reset(bool recover_eulers)
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}
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}
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}
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}
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// reset the current attitude, used by HIL
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void AP_AHRS_DCM::reset_attitude(const float &roll, const float &pitch, const float &yaw)
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{
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_dcm_matrix.from_euler(roll, pitch, yaw);
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}
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/*
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/*
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* check the DCM matrix for pathological values
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* check the DCM matrix for pathological values
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*/
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*/
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@ -55,6 +55,9 @@ public:
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void update(void);
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void update(void);
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void reset(bool recover_eulers = false);
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void reset(bool recover_eulers = false);
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// reset the current attitude, used on new IMU calibration
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void reset_attitude(const float &roll, const float &pitch, const float &yaw);
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// dead-reckoning support
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// dead-reckoning support
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bool get_position(struct Location &loc);
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bool get_position(struct Location &loc);
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@ -36,6 +36,10 @@ public:
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void reset(bool recover_eulers=false) {
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void reset(bool recover_eulers=false) {
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}
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}
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void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) {
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// not implemented - use setHil()
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}
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float get_error_rp(void) {
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float get_error_rp(void) {
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return 0;
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return 0;
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}
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}
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