mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.7 KiB
C++
120 lines
3.7 KiB
C++
#pragma once
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#include <AP_AHRS/AP_AHRS.h>
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#include <AP_InertialSensor/AP_InertialSensor.h> // ArduPilot Mega IMU Library
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#include <AP_Baro/AP_Baro.h> // ArduPilot Mega Barometer Library
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#include <AP_Buffer/AP_Buffer.h> // FIFO buffer library
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#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
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/*
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* AP_InertialNav blends accelerometer data with gps and barometer data to improve altitude and position hold.
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*
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* Most of the functions have to be called at 100Hz. (see defines above)
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*
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* The accelerometer values are integrated over time to approximate velocity and position.
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* The inaccurcy of these estimates grows over time due to noisy sensor data.
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* To improve the accuracy, baro and gps readings are used:
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* An error value is calculated as the difference between the sensor's measurement and the last position estimation.
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* This value is weighted with a gain factor and incorporated into the new estimation
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*
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* Special thanks to Tony Lambregts (FAA) for advice which contributed to the development of this filter.
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*
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*/
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class AP_InertialNav
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{
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public:
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// Constructor
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AP_InertialNav() {}
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/**
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* update - updates velocity and position estimates using latest info from accelerometers
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* augmented with gps and baro readings
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*
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* @param dt : time since last update in seconds
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*/
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virtual void update(float dt) = 0;
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/**
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* get_filter_status : returns filter status as a series of flags
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*/
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virtual nav_filter_status get_filter_status() const = 0;
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/**
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* get_origin - returns the inertial navigation origin in lat/lon/alt
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*
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* @return origin Location
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*/
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virtual struct Location get_origin() const = 0;
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//
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// XY Axis specific methods
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//
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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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* @return
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*/
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virtual const Vector3f& get_position() const = 0;
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/**
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* get_llh - updates the provided location with the latest calculated location including absolute altitude
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* returns true on success (i.e. the EKF knows it's latest position), false on failure
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*/
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virtual bool get_location(struct Location &loc) const = 0;
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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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* @return
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*/
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virtual int32_t get_latitude() const = 0;
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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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virtual int32_t get_longitude() const = 0;
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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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virtual const Vector3f& get_velocity() const = 0;
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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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virtual float get_velocity_xy() const = 0;
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//
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// Z Axis methods
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//
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/**
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* get_altitude - get latest altitude estimate in cm above the
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* reference position
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* @return
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*/
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virtual float get_altitude() const = 0;
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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 (positive up)
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*/
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virtual float get_velocity_z() const = 0;
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};
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#if AP_AHRS_NAVEKF_AVAILABLE
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#include "AP_InertialNav_NavEKF.h"
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#endif
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