mirror of https://github.com/ArduPilot/ardupilot
140 lines
3.9 KiB
C++
140 lines
3.9 KiB
C++
#ifndef __AP_AHRS_DCM_H__
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#define __AP_AHRS_DCM_H__
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/*
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* DCM based AHRS (Attitude Heading Reference System) interface for
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* ArduPilot
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*/
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class AP_AHRS_DCM : public AP_AHRS
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{
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public:
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// Constructors
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AP_AHRS_DCM(AP_InertialSensor *ins, GPS *&gps) : AP_AHRS(ins, gps)
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{
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_dcm_matrix.identity();
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// these are experimentally derived from the simulator
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// with large drift levels
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_ki = 0.0087;
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_ki_yaw = 0.01;
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}
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// return the smoothed gyro vector corrected for drift
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Vector3f get_gyro(void) {
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return _omega + _omega_P + _omega_yaw_P;
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}
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Matrix3f get_dcm_matrix(void) {
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return _dcm_matrix;
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}
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// return the current drift correction integrator value
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Vector3f get_gyro_drift(void) {
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return _omega_I;
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}
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// Methods
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void update(void);
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void reset(bool recover_eulers = false);
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// dead-reckoning support
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bool get_position(struct Location *loc);
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// status reporting
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float get_error_rp(void);
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float get_error_yaw(void);
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// return a wind estimation vector, in m/s
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Vector3f wind_estimate(void) {
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return _wind;
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}
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// return an airspeed estimate if available. return true
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// if we have an estimate
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bool airspeed_estimate(float *airspeed_ret);
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private:
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float _ki;
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float _ki_yaw;
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// Methods
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void matrix_update(float _G_Dt);
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void normalize(void);
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void check_matrix(void);
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bool renorm(Vector3f const &a, Vector3f &result);
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void drift_correction(float deltat);
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void drift_correction_yaw(void);
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float yaw_error_compass();
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float yaw_error_gps();
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void euler_angles(void);
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void estimate_wind(Vector3f &velocity);
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bool have_gps(void);
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// primary representation of attitude
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Matrix3f _dcm_matrix;
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Vector3f _gyro_vector; // Store the gyros turn rate in a vector
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Vector3f _accel_vector; // current accel vector
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Vector3f _omega_P; // accel Omega proportional correction
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Vector3f _omega_yaw_P; // proportional yaw correction
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Vector3f _omega_I; // Omega Integrator correction
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Vector3f _omega_I_sum;
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float _omega_I_sum_time;
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Vector3f _omega; // Corrected Gyro_Vector data
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// P term gain based on spin rate
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float _P_gain(float spin_rate);
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// state to support status reporting
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float _renorm_val_sum;
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uint16_t _renorm_val_count;
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float _error_rp_sum;
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uint16_t _error_rp_count;
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float _error_rp_last;
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float _error_yaw_sum;
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uint16_t _error_yaw_count;
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float _error_yaw_last;
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// time in millis when we last got a GPS heading
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uint32_t _gps_last_update;
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// state of accel drift correction
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Vector3f _ra_sum;
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Vector3f _last_velocity;
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float _ra_deltat;
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uint32_t _ra_sum_start;
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// current drift error in earth frame
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Vector3f _drift_error_earth;
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// whether we have GPS lock
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bool _have_gps_lock;
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// the lat/lng where we last had GPS lock
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int32_t _last_lat;
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int32_t _last_lng;
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// position offset from last GPS lock
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float _position_offset_north;
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float _position_offset_east;
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// whether we have a position estimate
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bool _have_position;
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// support for wind estimation
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Vector3f _last_fuse;
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Vector3f _last_vel;
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uint32_t _last_wind_time;
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float _last_airspeed;
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// estimated wind in m/s
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Vector3f _wind;
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};
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#endif // __AP_AHRS_DCM_H__
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