mirror of https://github.com/ArduPilot/ardupilot
54 lines
1.7 KiB
C++
54 lines
1.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_WindVane.h"
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#include <GCS_MAVLink/GCS.h>
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#include <Filter/Filter.h>
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class AP_WindVane_Backend
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{
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public:
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// constructor. This incorporates initialization as well.
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AP_WindVane_Backend(AP_WindVane &frontend);
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// we declare a virtual destructor so that WindVane drivers can
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// override with a custom destructor if need be
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virtual ~AP_WindVane_Backend() {}
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// initialization
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virtual void init(const AP_SerialManager& serial_manager) {};
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// update the state structure
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virtual void update_speed() {};
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virtual void update_direction() {};
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virtual void calibrate();
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protected:
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// update frontend
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void speed_update_frontend(float apparent_speed_in);
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void direction_update_frontend(float apparent_angle_ef);
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AP_WindVane &_frontend;
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private:
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// low pass filters of direction and speed
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LowPassFilterFloat _dir_sin_filt = LowPassFilterFloat(2.0f);
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LowPassFilterFloat _dir_cos_filt = LowPassFilterFloat(2.0f);
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LowPassFilterFloat _speed_filt = LowPassFilterFloat(2.0f);
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LowPassFilterFloat _tack_filt = LowPassFilterFloat(TACK_FILT_CUTOFF);
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};
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