mirror of https://github.com/ArduPilot/ardupilot
uncrustify libraries/AP_AHRS/AP_AHRS.h
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uncrustify
Pat Hickey
parent
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commit
b6db467e3c
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#ifndef AP_AHRS_H
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#define AP_AHRS_H
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/*
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AHRS (Attitude Heading Reference System) interface for ArduPilot
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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*/
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* AHRS (Attitude Heading Reference System) interface for ArduPilot
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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#include <AP_Math.h>
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#include <inttypes.h>
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#include <AP_Baro.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#include "WProgram.h"
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#endif
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class AP_AHRS
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{
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public:
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// Constructor
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AP_AHRS(IMU *imu, GPS *&gps):
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_imu(imu),
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_gps(gps),
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_barometer(NULL)
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{
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// base the ki values by the sensors maximum drift
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// rate. The APM2 has gyros which are much less drift
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// prone than the APM1, so we should have a lower ki,
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// which will make us less prone to increasing omegaI
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// incorrectly due to sensor noise
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_gyro_drift_limit = imu->get_gyro_drift_rate();
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}
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// Constructor
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AP_AHRS(IMU *imu, GPS *&gps) :
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_imu(imu),
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_gps(gps),
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_barometer(NULL)
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{
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// base the ki values by the sensors maximum drift
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// rate. The APM2 has gyros which are much less drift
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// prone than the APM1, so we should have a lower ki,
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// which will make us less prone to increasing omegaI
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// incorrectly due to sensor noise
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_gyro_drift_limit = imu->get_gyro_drift_rate();
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}
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// empty init
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virtual void init() {};
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// empty init
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virtual void init() {
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};
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// Accessors
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void set_fly_forward(bool b) { _fly_forward = b; }
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void set_compass(Compass *compass) { _compass = compass; }
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void set_barometer(AP_Baro *barometer) { _barometer = barometer; }
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void set_airspeed(AP_Airspeed *airspeed) { _airspeed = airspeed; }
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// Accessors
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void set_fly_forward(bool b) {
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_fly_forward = b;
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}
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void set_compass(Compass *compass) {
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_compass = compass;
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}
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void set_barometer(AP_Baro *barometer) {
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_barometer = barometer;
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}
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void set_airspeed(AP_Airspeed *airspeed) {
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_airspeed = airspeed;
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}
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// Methods
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virtual void update(void) = 0;
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// Methods
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virtual void update(void) = 0;
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// Euler angles (radians)
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float roll;
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float pitch;
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float yaw;
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// Euler angles (radians)
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float roll;
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float pitch;
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float yaw;
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// integer Euler angles (Degrees * 100)
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int32_t roll_sensor;
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int32_t pitch_sensor;
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int32_t yaw_sensor;
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// integer Euler angles (Degrees * 100)
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int32_t roll_sensor;
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int32_t pitch_sensor;
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int32_t yaw_sensor;
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// return a smoothed and corrected gyro vector
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virtual Vector3f get_gyro(void) = 0;
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// return a smoothed and corrected gyro vector
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virtual Vector3f get_gyro(void) = 0;
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// return the current estimate of the gyro drift
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virtual Vector3f get_gyro_drift(void) = 0;
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// return the current estimate of the gyro drift
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virtual Vector3f get_gyro_drift(void) = 0;
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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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// 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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// how often our attitude representation has gone out of range
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uint8_t renorm_range_count;
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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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// how often our attitude representation has blown up completely
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uint8_t renorm_blowup_count;
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// how often our attitude representation has blown up completely
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uint8_t renorm_blowup_count;
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// return the average size of the roll/pitch error estimate
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// since last call
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virtual float get_error_rp(void) = 0;
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// return the average size of the roll/pitch error estimate
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// since last call
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virtual float get_error_rp(void) = 0;
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// return the average size of the yaw error estimate
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// since last call
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virtual float get_error_yaw(void) = 0;
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// return the average size of the yaw error estimate
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// since last call
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virtual float get_error_yaw(void) = 0;
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// return a DCM rotation matrix representing our current
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// attitude
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virtual Matrix3f get_dcm_matrix(void) = 0;
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// return a DCM rotation matrix representing our current
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// attitude
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virtual Matrix3f get_dcm_matrix(void) = 0;
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// get our current position, either from GPS or via
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// dead-reckoning. Return true if a position is available,
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// otherwise false. This only updates the lat and lng fields
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// of the Location
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bool get_position(struct Location *loc) {
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if (!_gps || _gps->status() != GPS::GPS_OK) {
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return false;
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}
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loc->lat = _gps->latitude;
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loc->lng = _gps->longitude;
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return true;
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}
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// get our current position, either from GPS or via
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// dead-reckoning. Return true if a position is available,
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// otherwise false. This only updates the lat and lng fields
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// of the Location
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bool get_position(struct Location *loc) {
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if (!_gps || _gps->status() != GPS::GPS_OK) {
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return false;
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}
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loc->lat = _gps->latitude;
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loc->lng = _gps->longitude;
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return true;
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}
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate(void) {
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return Vector3f(0,0,0);
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}
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate(void) {
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return Vector3f(0,0,0);
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}
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// return true if yaw has been initialised
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bool yaw_initialised(void) {
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return _have_initial_yaw;
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}
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// return true if yaw has been initialised
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bool yaw_initialised(void) {
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return _have_initial_yaw;
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}
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// set the fast gains flag
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void set_fast_gains(bool setting) {
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_fast_ground_gains = setting;
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}
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// set the fast gains flag
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void set_fast_gains(bool setting) {
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_fast_ground_gains = setting;
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}
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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_Int8 _gps_use;
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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_Int8 _gps_use;
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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// for holding parameters
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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// whether the yaw value has been intialised with a reference
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bool _have_initial_yaw;
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// whether the yaw value has been intialised with a reference
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bool _have_initial_yaw;
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// pointer to compass object, if available
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Compass * _compass;
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// pointer to compass object, if available
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Compass * _compass;
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// pointer to airspeed object, if available
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AP_Airspeed * _airspeed;
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// pointer to airspeed object, if available
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AP_Airspeed * _airspeed;
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// time in microseconds of last compass update
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uint32_t _compass_last_update;
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// time in microseconds of last compass update
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uint32_t _compass_last_update;
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// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
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// IMU under us without our noticing.
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IMU *_imu;
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GPS *&_gps;
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AP_Baro *_barometer;
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// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
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// IMU under us without our noticing.
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IMU *_imu;
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GPS *&_gps;
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AP_Baro *_barometer;
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// should we raise the gain on the accelerometers for faster
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// convergence, used when disarmed for ArduCopter
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bool _fast_ground_gains;
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// should we raise the gain on the accelerometers for faster
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// convergence, used when disarmed for ArduCopter
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bool _fast_ground_gains;
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// true if we can assume the aircraft will be flying forward
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// on its X axis
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bool _fly_forward;
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// true if we can assume the aircraft will be flying forward
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// on its X axis
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bool _fly_forward;
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// the limit of the gyro drift claimed by the sensors, in
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// radians/s/s
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float _gyro_drift_limit;
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// the limit of the gyro drift claimed by the sensors, in
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// radians/s/s
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float _gyro_drift_limit;
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// acceleration due to gravity in m/s/s
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static const float _gravity = 9.80665;
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// acceleration due to gravity in m/s/s
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static const float _gravity = 9.80665;
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};
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#include <AP_AHRS_DCM.h>
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