mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-19 23:28:32 -04:00
95 lines
2.3 KiB
C++
95 lines
2.3 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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* NavEKF based AHRS (Attitude Heading Reference System) interface for
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* ArduPilot
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*
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*/
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#include <AP_HAL.h>
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#include <AP_AHRS.h>
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#if AP_AHRS_NAVEKF_AVAILABLE
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// return the smoothed gyro vector corrected for drift
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const Vector3f AP_AHRS_NavEKF::get_gyro(void) const
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{
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return AP_AHRS_DCM::get_gyro();
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}
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const Matrix3f &AP_AHRS_NavEKF::get_dcm_matrix(void) const
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{
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return AP_AHRS_DCM::get_dcm_matrix();
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}
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const Vector3f &AP_AHRS_NavEKF::get_gyro_drift(void) const
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{
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return AP_AHRS_DCM::get_gyro_drift();
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}
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void AP_AHRS_NavEKF::update(void)
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{
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AP_AHRS_DCM::update();
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}
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void AP_AHRS_NavEKF::reset(bool recover_eulers)
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{
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AP_AHRS_DCM::reset(recover_eulers);
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}
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// reset the current attitude, used on new IMU calibration
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void AP_AHRS_NavEKF::reset_attitude(const float &_roll, const float &_pitch, const float &_yaw)
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{
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AP_AHRS_DCM::reset_attitude(_roll, _pitch, _yaw);
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}
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// dead-reckoning support
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bool AP_AHRS_NavEKF::get_position(struct Location &loc)
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{
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return AP_AHRS_DCM::get_position(loc);
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}
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// status reporting of estimated error
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float AP_AHRS_NavEKF::get_error_rp(void)
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{
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return AP_AHRS_DCM::get_error_rp();
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}
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float AP_AHRS_NavEKF::get_error_yaw(void)
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{
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return AP_AHRS_DCM::get_error_yaw();
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}
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// return a wind estimation vector, in m/s
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Vector3f AP_AHRS_NavEKF::wind_estimate(void)
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{
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return AP_AHRS_DCM::wind_estimate();
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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 AP_AHRS_NavEKF::airspeed_estimate(float *airspeed_ret)
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{
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return AP_AHRS_DCM::airspeed_estimate(airspeed_ret);
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}
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// true if compass is being used
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bool AP_AHRS_NavEKF::use_compass(void)
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{
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return AP_AHRS_DCM::use_compass();
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}
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#endif // AP_AHRS_NAVEKF_AVAILABLE
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