mirror of https://github.com/ArduPilot/ardupilot
118 lines
3.1 KiB
C++
118 lines
3.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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A wrapper around the AP_InertialNav class which uses the NavEKF
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filter if available, and falls back to the AP_InertialNav filter
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when EKF is not available
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*/
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#ifndef __AP_INERTIALNAV_NAVEKF_H__
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#define __AP_INERTIALNAV_NAVEKF_H__
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class AP_InertialNav_NavEKF : public AP_InertialNav
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{
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public:
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// Constructor
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AP_InertialNav_NavEKF(AP_AHRS &ahrs, AP_Baro &baro, GPS*& gps, GPS_Glitch& gps_glitch ) :
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AP_InertialNav(ahrs, baro, gps, gps_glitch)
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{
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}
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/**
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* initializes the object.
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*/
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void init();
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/**
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update internal state
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*/
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void update(float dt);
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/**
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* position_ok - true if inertial based altitude and position can be trusted
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* @return
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*/
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bool position_ok() const;
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/**
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* get_position - returns the current position relative to the home location in cm.
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*
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* the home location was set with AP_InertialNav::set_home_position(int32_t, int32_t)
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*
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* @return
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*/
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const Vector3f& get_position() const;
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/**
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* get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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*/
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int32_t get_latitude() const;
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/**
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* get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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* @return
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*/
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int32_t get_longitude() const;
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/**
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* get_latitude_diff - returns the current latitude difference from the home location.
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*
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* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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*/
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float get_latitude_diff() const;
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/**
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* get_longitude_diff - returns the current longitude difference from the home location.
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*
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* @return difference in 100 nano degrees (i.e. degree value multiplied by 10,000,000)
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*/
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float get_longitude_diff() const;
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/**
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* get_velocity - returns the current velocity in cm/s
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*
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* @return velocity vector:
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* .x : latitude velocity in cm/s
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* .y : longitude velocity in cm/s
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* .z : vertical velocity in cm/s
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*/
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const Vector3f& get_velocity() const;
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/**
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* get_velocity_xy - returns the current horizontal velocity in cm/s
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*
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* @returns the current horizontal velocity in cm/s
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*/
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float get_velocity_xy();
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/**
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* altitude_ok - returns true if inertial based altitude and position can be trusted
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* @return
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*/
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bool altitude_ok() const;
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/**
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* get_altitude - get latest altitude estimate in cm
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* @return
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*/
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float get_altitude() const;
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/**
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* get_velocity_z - returns the current climbrate.
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*
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* @see get_velocity().z
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*
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* @return climbrate in cm/s
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*/
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float get_velocity_z() const;
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private:
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Vector3f _relpos_cm; // NEU
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Vector3f _velocity_cm; // NEU
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struct Location _abspos;
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bool _haveabspos;
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};
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#endif // __AP_INERTIALNAV_NAVEKF_H__
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