ardupilot/libraries/AP_DCM/AP_DCM_HIL.h

78 lines
1.6 KiB
C++

#ifndef AP_DCM_HIL_H
#define AP_DCM_HIL_H
#include "../FastSerial/FastSerial.h"
#include "../AP_Math/AP_Math.h"
#include <inttypes.h>
#include "WProgram.h"
#include "../AP_Compass/AP_Compass.h"
#include "../AP_ADC/AP_ADC.h"
#include "../AP_GPS/AP_GPS.h"
#include "../AP_IMU/AP_IMU.h"
class AP_DCM_HIL
{
public:
// Constructors
AP_DCM_HIL() :
_dcm_matrix(1, 0, 0,
0, 1, 0,
0, 0, 1)
{}
// Accessors
Vector3f get_gyro(void) {return _omega_integ_corr; }
Vector3f get_accel(void) { return _accel_vector; }
Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
void set_centripetal(bool b) {}
void set_compass(Compass *compass) {}
// Methods
void update_DCM(void) {}
void update_DCM_fast(void) {}
float get_health(void) { return 1.0; }
long roll_sensor; // Degrees * 100
long pitch_sensor; // Degrees * 100
long yaw_sensor; // Degrees * 100
float roll; // Radians
float pitch; // Radians
float yaw; // Radians
uint8_t gyro_sat_count;
uint8_t renorm_sqrt_count;
uint8_t renorm_blowup_count;
float kp_roll_pitch() { return 0; }
void kp_roll_pitch(float v) { }
float ki_roll_pitch() { return 0; }
void ki_roll_pitch(float v) { }
float kp_yaw() { return 0; }
void kp_yaw(float v) { }
float ki_yaw() { return 0; }
void ki_yaw(float v) { }
void setHil(float roll, float pitch, float yaw,
float rollRate, float pitchRate, float yawRate);
private:
// Methods
Matrix3f _dcm_matrix;
Vector3f _omega_integ_corr;
Vector3f _accel_vector;
};
#endif