mirror of https://github.com/ArduPilot/ardupilot
109 lines
3.2 KiB
C++
109 lines
3.2 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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/*
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* AHRS View class - for creating a 2nd view of the vehicle attitude
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*
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*/
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#include "AP_AHRS_View.h"
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#include <stdio.h>
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AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation, float pitch_trim_deg) :
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rotation(_rotation),
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ahrs(_ahrs)
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{
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switch (rotation) {
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case ROTATION_NONE:
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y_angle = 0;
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break;
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case ROTATION_PITCH_90:
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y_angle = 90;
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break;
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case ROTATION_PITCH_270:
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y_angle = 270;
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break;
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default:
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AP_HAL::panic("Unsupported AHRS view %u\n", (unsigned)rotation);
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}
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_pitch_trim_deg = pitch_trim_deg;
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// Add pitch trim
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rot_view.from_euler(0, radians(wrap_360(y_angle + pitch_trim_deg)), 0);
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rot_view_T = rot_view;
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rot_view_T.transpose();
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// setup initial state
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update();
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}
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// apply pitch trim
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void AP_AHRS_View::set_pitch_trim(float trim_deg) {
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_pitch_trim_deg = trim_deg;
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rot_view.from_euler(0, radians(wrap_360(y_angle + _pitch_trim_deg)), 0);
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rot_view_T = rot_view;
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rot_view_T.transpose();
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};
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// update state
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void AP_AHRS_View::update()
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{
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rot_body_to_ned = ahrs.get_rotation_body_to_ned();
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gyro = ahrs.get_gyro();
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if (!is_zero(y_angle + _pitch_trim_deg)) {
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rot_body_to_ned = rot_body_to_ned * rot_view_T;
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gyro = rot_view * gyro;
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}
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rot_body_to_ned.to_euler(&roll, &pitch, &yaw);
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roll_sensor = degrees(roll) * 100;
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pitch_sensor = degrees(pitch) * 100;
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yaw_sensor = degrees(yaw) * 100;
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if (yaw_sensor < 0) {
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yaw_sensor += 36000;
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}
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ahrs.calc_trig(rot_body_to_ned,
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trig.cos_roll, trig.cos_pitch, trig.cos_yaw,
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trig.sin_roll, trig.sin_pitch, trig.sin_yaw);
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}
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// return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
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Vector3f AP_AHRS_View::get_gyro_latest(void) const {
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return rot_view * ahrs.get_gyro_latest();
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}
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// rotate a 2D vector from earth frame to body frame
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Vector2f AP_AHRS_View::earth_to_body2D(const Vector2f &ef) const
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{
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return Vector2f(ef.x * trig.cos_yaw + ef.y * trig.sin_yaw,
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-ef.x * trig.sin_yaw + ef.y * trig.cos_yaw);
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}
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// rotate a 2D vector from earth frame to body frame
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Vector2f AP_AHRS_View::body_to_earth2D(const Vector2f &bf) const
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{
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return Vector2f(bf.x * trig.cos_yaw - bf.y * trig.sin_yaw,
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bf.x * trig.sin_yaw + bf.y * trig.cos_yaw);
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}
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// Rotate vector from AHRS reference frame to AHRS view reference frame
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void AP_AHRS_View::rotate(Vector3f &vec) const
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{
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vec = rot_view * vec;
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}
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