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uncrustify libraries/AP_Compass/Compass.h

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uncrustify 2012-08-21 19:19:51 -07:00 committed by Pat Hickey
parent 8f9bb7f92c
commit cf69da594f
1 changed files with 92 additions and 88 deletions
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libraries/AP_Compass/Compass.h
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@ -16,116 +16,120 @@
class Compass class Compass
{ {
public: public:
int16_t product_id; /// product id int16_t product_id; /// product id
int16_t mag_x; ///< magnetic field strength along the X axis int16_t mag_x; ///< magnetic field strength along the X axis
int16_t mag_y; ///< magnetic field strength along the Y axis int16_t mag_y; ///< magnetic field strength along the Y axis
int16_t mag_z; ///< magnetic field strength along the Z axis int16_t mag_z; ///< magnetic field strength along the Z axis
uint32_t last_update; ///< micros() time of last update uint32_t last_update; ///< micros() time of last update
bool healthy; ///< true if last read OK bool healthy; ///< true if last read OK
/// Constructor /// Constructor
///
Compass();
/// Initialize the compass device.
///
/// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
virtual bool init();
/// Read the compass and update the mag_ variables.
///
virtual bool read(void) = 0;
/// Calculate the tilt-compensated heading_ variables.
///
/// @param roll The current airframe roll angle.
/// @param pitch The current airframe pitch angle.
///
/// @returns heading in radians
/// ///
virtual float calculate_heading(float roll, float pitch); Compass();
/// Calculate the tilt-compensated heading_ variables. /// Initialize the compass device.
/// ///
/// @param dcm_matrix The current orientation rotation matrix /// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
virtual bool init();
/// Read the compass and update the mag_ variables.
///
virtual bool read(void) = 0;
/// Calculate the tilt-compensated heading_ variables.
///
/// @param roll The current airframe roll angle.
/// @param pitch The current airframe pitch angle.
/// ///
/// @returns heading in radians /// @returns heading in radians
/// ///
virtual float calculate_heading(const Matrix3f &dcm_matrix); virtual float calculate_heading(float roll, float pitch);
/// Set the compass orientation matrix, used to correct for /// Calculate the tilt-compensated heading_ variables.
/// various compass mounting positions. ///
/// /// @param dcm_matrix The current orientation rotation matrix
/// @param rotation_matrix Rotation matrix to transform magnetometer readings ///
/// to the body frame. /// @returns heading in radians
/// ///
virtual void set_orientation(enum Rotation rotation); virtual float calculate_heading(const Matrix3f &dcm_matrix);
/// Sets the compass offset x/y/z values. /// Set the compass orientation matrix, used to correct for
/// /// various compass mounting positions.
/// @param offsets Offsets to the raw mag_ values. ///
/// /// @param rotation_matrix Rotation matrix to transform magnetometer readings
virtual void set_offsets(const Vector3f &offsets); /// to the body frame.
///
virtual void set_orientation(enum Rotation rotation);
/// Saves the current compass offset x/y/z values. /// Sets the compass offset x/y/z values.
/// ///
/// This should be invoked periodically to save the offset values maintained by /// @param offsets Offsets to the raw mag_ values.
/// ::null_offsets. ///
/// virtual void set_offsets(const Vector3f &offsets);
virtual void save_offsets();
/// Returns the current offset values /// Saves the current compass offset x/y/z values.
/// ///
/// @returns The current compass offsets. /// This should be invoked periodically to save the offset values maintained by
/// /// ::null_offsets.
virtual Vector3f &get_offsets(); ///
virtual void save_offsets();
/// Sets the initial location used to get declination /// Returns the current offset values
/// ///
/// @param latitude GPS Latitude. /// @returns The current compass offsets.
/// @param longitude GPS Longitude. ///
/// virtual Vector3f &get_offsets();
void set_initial_location(int32_t latitude, int32_t longitude);
/// Program new offset values. /// Sets the initial location used to get declination
/// ///
/// @param x Offset to the raw mag_x value. /// @param latitude GPS Latitude.
/// @param y Offset to the raw mag_y value. /// @param longitude GPS Longitude.
/// @param z Offset to the raw mag_z value. ///
/// void set_initial_location(int32_t latitude, int32_t longitude);
void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
/// Perform automatic offset updates /// Program new offset values.
/// ///
void null_offsets(void); /// @param x Offset to the raw mag_x value.
/// @param y Offset to the raw mag_y value.
/// @param z Offset to the raw mag_z value.
///
void set_offsets(int x, int y, int z) {
set_offsets(Vector3f(x, y, z));
}
/// Perform automatic offset updates
///
void null_offsets(void);
/// return true if the compass should be used for yaw calculations /// return true if the compass should be used for yaw calculations
bool use_for_yaw(void) { return healthy && _use_for_yaw; } bool use_for_yaw(void) {
return healthy && _use_for_yaw;
}
/// Sets the local magnetic field declination. /// Sets the local magnetic field declination.
/// ///
/// @param radians Local field declination. /// @param radians Local field declination.
/// ///
virtual void set_declination(float radians); virtual void set_declination(float radians);
float get_declination(); float get_declination();
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
enum Rotation _orientation; enum Rotation _orientation;
AP_Vector3f _offset; AP_Vector3f _offset;
AP_Float _declination; AP_Float _declination;
AP_Int8 _learn; ///<enable calibration learning AP_Int8 _learn; ///<enable calibration learning
AP_Int8 _use_for_yaw; ///<enable use for yaw calculation AP_Int8 _use_for_yaw; ///<enable use for yaw calculation
AP_Int8 _auto_declination; ///<enable automatic declination code AP_Int8 _auto_declination; ///<enable automatic declination code
bool _null_init_done; ///< first-time-around flag used by offset nulling bool _null_init_done; ///< first-time-around flag used by offset nulling
///< used by offset correction ///< used by offset correction
static const uint8_t _mag_history_size = 20; static const uint8_t _mag_history_size = 20;
uint8_t _mag_history_index; uint8_t _mag_history_index;
Vector3i _mag_history[_mag_history_size]; Vector3i _mag_history[_mag_history_size];
}; };
#endif #endif