mirror of https://github.com/ArduPilot/ardupilot
43 lines
848 B
C++
43 lines
848 B
C++
#ifndef AP_AHRS_HIL_H
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#define AP_AHRS_HIL_H
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class AP_AHRS_HIL : public AP_AHRS
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{
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public:
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// Constructors
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AP_AHRS_HIL(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
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{
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}
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// Accessors
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Vector3f get_gyro(void) {return _omega; }
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Matrix3f get_dcm_matrix(void) {
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Matrix3f m;
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m.from_euler(roll, pitch, yaw);
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return m;
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}
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// Methods
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void update(void) {}
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void setHil(float roll, float pitch, float yaw,
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float rollRate, float pitchRate, float yawRate);
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// return the current estimate of the gyro drift
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Vector3f get_gyro_drift(void) { return Vector3f(0,0,0); }
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// reset the current attitude, used on new IMU calibration
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void reset(bool recover_eulers=false) {}
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float get_error_rp(void) { return 0; }
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float get_error_yaw(void) { return 0; }
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// settable parameters
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AP_Float _kp_yaw;
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private:
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Vector3f _omega;
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};
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#endif
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