mirror of https://github.com/ArduPilot/ardupilot
82 lines
1.7 KiB
C++
82 lines
1.7 KiB
C++
#ifndef AP_DCM_HIL_H
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#define 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 "../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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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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class AP_DCM_HIL
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{
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public:
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// Constructors
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AP_DCM_HIL() :
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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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{}
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// Accessors
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Vector3f get_gyro(void) {return _omega_integ_corr; }
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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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void set_centripetal(bool b) {}
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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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float get_health(void) { return 1.0; }
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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_range_count;
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uint8_t renorm_blowup_count;
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float kp_roll_pitch() { return 0; }
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void kp_roll_pitch(float v) { }
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float ki_roll_pitch() { return 0; }
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void ki_roll_pitch(float v) { }
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float kp_yaw() { return 0; }
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void kp_yaw(float v) { }
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float ki_yaw() { return 0; }
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void ki_yaw(float v) { }
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void setHil(float roll, float pitch, float yaw,
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float rollRate, float pitchRate, float yawRate);
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private:
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// Methods
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Matrix3f _dcm_matrix;
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Vector3f _omega_integ_corr;
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Vector3f _accel_vector;
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};
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#endif
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