mirror of https://github.com/ArduPilot/ardupilot
137 lines
3.7 KiB
C++
137 lines
3.7 KiB
C++
#ifndef AP_DCM_h
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#define AP_DCM_h
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// temporarily include all other classes here
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// since this naming is a bit off from the
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// convention and the AP_DCM should be the top
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// header file
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#include "AP_DCM_HIL.h"
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#include "../FastSerial/FastSerial.h"
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#include "../AP_Math/AP_Math.h"
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#include <inttypes.h>
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#include "WProgram.h"
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#include "../AP_Compass/AP_Compass.h"
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#include "../AP_ADC/AP_ADC.h"
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#include "../AP_GPS/AP_GPS.h"
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#include "../AP_IMU/AP_IMU.h"
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class AP_DCM
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{
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public:
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// Constructors
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AP_DCM(IMU *imu, GPS *&gps, Compass *withCompass = NULL) :
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_compass(withCompass),
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_gps(gps),
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_imu(imu),
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_dcm_matrix(1, 0, 0,
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0, 1, 0,
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0, 0, 1),
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_course_over_ground_x(0),
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_course_over_ground_y(1),
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_health(1.),
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_kp_roll_pitch(0.05967),
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_ki_roll_pitch(0.00001278),
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_kp_yaw(0.8), // .8
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_ki_yaw(0.00004), // 0.00004
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_toggle(0)
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{}
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// Accessors
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Vector3f get_gyro(void) {return _omega_integ_corr; } // We return the raw gyro vector corrected for bias
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Vector3f get_accel(void) { return _accel_vector; }
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Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
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Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
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Vector3f get_integrator(void) {return _omega_I; } // We return the current drift correction integrator values
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float get_health(void) {return _health;}
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void set_centripetal(bool b) {_centripetal = b;}
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bool get_centripetal(void) {return _centripetal;}
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void set_compass(Compass *compass);
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// Methods
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void update_DCM(void);
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void update_DCM_fast(void);
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long roll_sensor; // Degrees * 100
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long pitch_sensor; // Degrees * 100
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long yaw_sensor; // Degrees * 100
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float roll; // Radians
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float pitch; // Radians
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float yaw; // Radians
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uint8_t gyro_sat_count;
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uint8_t renorm_sqrt_count;
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uint8_t renorm_blowup_count;
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float kp_roll_pitch() { return _kp_roll_pitch; }
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void kp_roll_pitch(float v) { _kp_roll_pitch = v; }
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float ki_roll_pitch() { return _ki_roll_pitch; }
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void ki_roll_pitch(float v) { _ki_roll_pitch = v; }
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float kp_yaw() { return _kp_yaw; }
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void kp_yaw(float v) { _kp_yaw = v; }
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float ki_yaw() { return _ki_yaw; }
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void ki_yaw(float v) { _ki_yaw = v; }
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static const float kDCM_kp_rp_high = 0.15;
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static const float kDCM_kp_rp_medium = 0.05967;
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static const float kDCM_kp_rp_low = 0.01;
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private:
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float _kp_roll_pitch;
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float _ki_roll_pitch;
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float _kp_yaw;
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float _ki_yaw;
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// Methods
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void read_adc_raw(void);
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void accel_adjust(void);
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float read_adc(int select);
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void matrix_update(float _G_Dt);
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void normalize(void);
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Vector3f renorm(Vector3f const &a, int &problem);
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void drift_correction(void);
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void euler_angles(void);
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void euler_rp(void);
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void euler_yaw(void);
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// members
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Compass * _compass;
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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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GPS *&_gps; // note: this is a reference to a pointer owned by the caller
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IMU *_imu;
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Matrix3f _dcm_matrix;
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Vector3f _accel_vector; // Store the acceleration in a vector
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Vector3f _gyro_vector; // Store the gyros turn rate in a vector
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Vector3f _omega_P; // Omega Proportional correction
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Vector3f _omega_I; // Omega Integrator correction
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Vector3f _omega_integ_corr; // Partially corrected Gyro_Vector data - used for centrepetal correction
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Vector3f _omega; // Corrected Gyro_Vector data
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Vector3f _error_roll_pitch;
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Vector3f _error_yaw;
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float _errorCourse;
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float _course_over_ground_x; // Course overground X axis
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float _course_over_ground_y; // Course overground Y axis
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float _health;
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bool _centripetal;
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uint8_t _toggle;
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};
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#endif
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