mirror of https://github.com/ArduPilot/ardupilot
115 lines
3.1 KiB
C++
115 lines
3.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
/*
|
|
A wrapper around the AP_InertialNav class which uses the NavEKF
|
|
filter if available, and falls back to the AP_InertialNav filter
|
|
when EKF is not available
|
|
*/
|
|
|
|
|
|
#ifndef __AP_INERTIALNAV_NAVEKF_H__
|
|
#define __AP_INERTIALNAV_NAVEKF_H__
|
|
|
|
#include <AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
|
|
|
|
class AP_InertialNav_NavEKF : public AP_InertialNav
|
|
{
|
|
public:
|
|
// Constructor
|
|
AP_InertialNav_NavEKF(AP_AHRS_NavEKF &ahrs) :
|
|
AP_InertialNav(),
|
|
_haveabspos(false),
|
|
_ahrs_ekf(ahrs)
|
|
{}
|
|
|
|
/**
|
|
update internal state
|
|
*/
|
|
void update(float dt);
|
|
|
|
/**
|
|
* get_filter_status - returns filter status as a series of flags
|
|
*/
|
|
nav_filter_status get_filter_status() const;
|
|
|
|
/**
|
|
* get_origin - returns the inertial navigation origin in lat/lon/alt
|
|
*
|
|
* @return origin Location
|
|
*/
|
|
struct Location get_origin() const;
|
|
|
|
/**
|
|
* get_position - returns the current position relative to the home location in cm.
|
|
*
|
|
* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
|
|
*
|
|
* @return
|
|
*/
|
|
const Vector3f& get_position() const;
|
|
|
|
/**
|
|
* get_llh - updates the provided location with the latest calculated location including absolute altitude
|
|
* returns true on success (i.e. the EKF knows it's latest position), false on failure
|
|
*/
|
|
bool get_location(struct Location &loc) const;
|
|
|
|
/**
|
|
* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
|
|
*/
|
|
int32_t get_latitude() const;
|
|
|
|
/**
|
|
* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
|
|
* @return
|
|
*/
|
|
int32_t get_longitude() const;
|
|
|
|
/**
|
|
* get_velocity - returns the current velocity in cm/s
|
|
*
|
|
* @return velocity vector:
|
|
* .x : latitude velocity in cm/s
|
|
* .y : longitude velocity in cm/s
|
|
* .z : vertical velocity in cm/s
|
|
*/
|
|
const Vector3f& get_velocity() const;
|
|
|
|
/**
|
|
* get_velocity_xy - returns the current horizontal velocity in cm/s
|
|
*
|
|
* @returns the current horizontal velocity in cm/s
|
|
*/
|
|
float get_velocity_xy() const;
|
|
|
|
/**
|
|
* get_altitude - get latest altitude estimate in cm
|
|
* @return
|
|
*/
|
|
float get_altitude() const;
|
|
|
|
/**
|
|
* getHgtAboveGnd - get latest altitude estimate above ground level in centimetres and validity flag
|
|
* @return
|
|
*/
|
|
bool get_hagl(float hagl) const;
|
|
|
|
/**
|
|
* get_velocity_z - returns the current climbrate.
|
|
*
|
|
* @see get_velocity().z
|
|
*
|
|
* @return climbrate in cm/s
|
|
*/
|
|
float get_velocity_z() const;
|
|
|
|
private:
|
|
Vector3f _relpos_cm; // NEU
|
|
Vector3f _velocity_cm; // NEU
|
|
struct Location _abspos;
|
|
bool _haveabspos;
|
|
AP_AHRS_NavEKF &_ahrs_ekf;
|
|
};
|
|
|
|
#endif // __AP_INERTIALNAV_NAVEKF_H__
|