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Add an accessor for the DCM drift correction integrator to monitor performance

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Also made the get_health accessor an inline function.
This commit is contained in:
Doug Weibel 2011-11-05 09:02:23 -06:00
parent beb6c4dbf4
commit d4fff166cf
2 changed files with 3 additions and 11 deletions
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8
libraries/AP_DCM/AP_DCM.cpp
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@ -393,12 +393,4 @@ AP_DCM::euler_yaw(void)
yaw_sensor += 36000; yaw_sensor += 36000;
} }
/**************************************************/
float
AP_DCM::get_health(void)
{
return _health;
}

4
libraries/AP_DCM/AP_DCM.h
View File

@ -43,7 +43,9 @@ public:
Vector3f get_accel(void) { return _accel_vector; } Vector3f get_accel(void) { return _accel_vector; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; } Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();} Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
Vector3f get_integrator(void) {return _omega_I; } // We return the current drift correction integrator values
float get_health(void) {return _health;}
void set_centripetal(bool b) {_centripetal = b;} void set_centripetal(bool b) {_centripetal = b;}
bool get_centripetal(void) {return _centripetal;} bool get_centripetal(void) {return _centripetal;}
void set_compass(Compass *compass); void set_compass(Compass *compass);
@ -52,8 +54,6 @@ public:
void update_DCM(void); void update_DCM(void);
void update_DCM_fast(void); void update_DCM_fast(void);
float get_health(void);
long roll_sensor; // Degrees * 100 long roll_sensor; // Degrees * 100
long pitch_sensor; // Degrees * 100 long pitch_sensor; // Degrees * 100
long yaw_sensor; // Degrees * 100 long yaw_sensor; // Degrees * 100