Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Compass_HIL: fixed indentation

This commit is contained in:
Andrew Tridgell 2013-05-02 21:31:17 +10:00
parent 26bf636541
commit c90d44c121
1 changed files with 31 additions and 30 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

61
libraries/AP_Compass/AP_Compass_HIL.cpp
View File

@ -1,3 +1,4 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
* AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
* Code by James Goppert. DIYDrones.com
@ -17,21 +18,21 @@ extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_HIL::AP_Compass_HIL() : Compass()
{
product_id = AP_COMPASS_TYPE_HIL;
_setup_earth_field();
product_id = AP_COMPASS_TYPE_HIL;
_setup_earth_field();
}
// setup _Bearth
void AP_Compass_HIL::_setup_earth_field(void)
{
// assume a earth field strength of 400
_Bearth(400, 0, 0);
// rotate _Bearth for inclination and declination. -66 degrees
// is the inclination in Canberra, Australia
Matrix3f R;
R.from_euler(0, ToRad(66), _declination.get());
_Bearth = R * _Bearth;
// assume a earth field strength of 400
_Bearth(400, 0, 0);
// rotate _Bearth for inclination and declination. -66 degrees
// is the inclination in Canberra, Australia
Matrix3f R;
R.from_euler(0, ToRad(66), _declination.get());
_Bearth = R * _Bearth;
}
// Public Methods //////////////////////////////////////////////////////////////
@ -68,35 +69,35 @@ bool AP_Compass_HIL::read()
//
void AP_Compass_HIL::setHIL(float roll, float pitch, float yaw)
{
Matrix3f R;
Matrix3f R;
// create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw);
// create a rotation matrix for the given attitude
R.from_euler(roll, pitch, yaw);
if (_last_declination != _declination.get()) {
_setup_earth_field();
_last_declination = _declination.get();
}
if (_last_declination != _declination.get()) {
_setup_earth_field();
_last_declination = _declination.get();
}
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil_mag = R.mul_transpose(_Bearth);
_hil_mag -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
// convert the earth frame magnetic vector to body frame, and
// apply the offsets
_hil_mag = R.mul_transpose(_Bearth);
_hil_mag -= Vector3f(MAG_OFS_X, MAG_OFS_Y, MAG_OFS_Z);
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil_mag.rotate(MAG_BOARD_ORIENTATION);
// apply default board orientation for this compass type. This is
// a noop on most boards
_hil_mag.rotate(MAG_BOARD_ORIENTATION);
// add user selectable orientation
_hil_mag.rotate((enum Rotation)_orientation.get());
// add user selectable orientation
_hil_mag.rotate((enum Rotation)_orientation.get());
// and add in AHRS_ORIENTATION setting
_hil_mag.rotate(_board_orientation);
// and add in AHRS_ORIENTATION setting
_hil_mag.rotate(_board_orientation);
healthy = true;
healthy = true;
}
void AP_Compass_HIL::accumulate(void)
{
// nothing to do
// nothing to do
}