mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.3 KiB
C++
93 lines
3.3 KiB
C++
#pragma once
|
|
|
|
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
/*
|
|
* External based AHRS (Attitude Heading Reference System) interface for
|
|
* ArduPilot
|
|
*
|
|
*/
|
|
|
|
#include "AP_AHRS_config.h"
|
|
|
|
#if AP_AHRS_EXTERNAL_ENABLED
|
|
|
|
#include "AP_AHRS_Backend.h"
|
|
|
|
class AP_AHRS_External : public AP_AHRS_Backend {
|
|
public:
|
|
|
|
using AP_AHRS_Backend::AP_AHRS_Backend;
|
|
|
|
/* Do not allow copies */
|
|
CLASS_NO_COPY(AP_AHRS_External);
|
|
|
|
// reset the current gyro drift estimate
|
|
// should be called if gyro offsets are recalculated
|
|
void reset_gyro_drift() override {}
|
|
|
|
// Methods
|
|
bool initialised() const override;
|
|
void update() override;
|
|
void get_results(Estimates &results) override;
|
|
void reset() override {}
|
|
|
|
// return a wind estimation vector, in m/s
|
|
bool wind_estimate(Vector3f &ret) const override {
|
|
return false;
|
|
}
|
|
|
|
// return a ground vector estimate in meters/second, in North/East order
|
|
Vector2f groundspeed_vector() override;
|
|
|
|
bool use_compass() override {
|
|
// this is actually never called at the moment; we use dcm's
|
|
// return value.
|
|
return true;
|
|
}
|
|
|
|
// return the quaternion defining the rotation from NED to XYZ (body) axes
|
|
bool get_quaternion(Quaternion &quat) const override WARN_IF_UNUSED;
|
|
|
|
void estimate_wind(void);
|
|
|
|
// is the AHRS subsystem healthy?
|
|
bool healthy() const override;
|
|
|
|
bool get_velocity_NED(Vector3f &vec) const override;
|
|
|
|
// Get a derivative of the vertical position in m/s which is kinematically consistent with the vertical position is required by some control loops.
|
|
// This is different to the vertical velocity from the EKF which is not always consistent with the vertical position due to the various errors that are being corrected for.
|
|
bool get_vert_pos_rate_D(float &velocity) const override;
|
|
|
|
// returns false if we fail arming checks, in which case the buffer will be populated with a failure message
|
|
// requires_position should be true if horizontal position configuration should be checked (not used)
|
|
bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const override;
|
|
|
|
// relative-origin functions for fallback in AP_InertialNav
|
|
bool get_origin(Location &ret) const override;
|
|
bool get_relative_position_NED_origin(Vector3f &vec) const override;
|
|
bool get_relative_position_NE_origin(Vector2f &posNE) const override;
|
|
bool get_relative_position_D_origin(float &posD) const override;
|
|
|
|
bool get_filter_status(nav_filter_status &status) const override;
|
|
void send_ekf_status_report(class GCS_MAVLINK &link) const override;
|
|
|
|
void get_control_limits(float &ekfGndSpdLimit, float &controlScaleXY) const override;
|
|
};
|
|
|
|
#endif
|