ardupilot/libraries/AP_InertialNav/AP_InertialNav.h

90 lines
2.5 KiB
C++

#pragma once
#include <AP_AHRS/AP_AHRS.h>
#include <AP_NavEKF/AP_Nav_Common.h> // definitions shared by inertial and ekf nav filters
/*
* AP_InertialNav blends accelerometer data with gps and barometer data to improve altitude and position hold.
*
* Most of the functions have to be called at 100Hz. (see defines above)
*
* The accelerometer values are integrated over time to approximate velocity and position.
* The inaccurcy of these estimates grows over time due to noisy sensor data.
* To improve the accuracy, baro and gps readings are used:
* An error value is calculated as the difference between the sensor's measurement and the last position estimation.
* This value is weighted with a gain factor and incorporated into the new estimation
*
* Special thanks to Tony Lambregts (FAA) for advice which contributed to the development of this filter.
*
*/
class AP_InertialNav
{
public:
// Constructor
AP_InertialNav() {}
/**
* updates velocity and position estimates pulling data from EKF
* high_vibes should be set to true if high vibration have been detected
*/
virtual void update(bool high_vibes = false) = 0;
/**
* get_filter_status : returns filter status as a series of flags
*/
virtual nav_filter_status get_filter_status() const = 0;
//
// XY Axis specific methods
//
/**
* get_position - returns the current position relative to the home location in cm.
*
* @return
*/
virtual const Vector3f& get_position() const = 0;
/**
* get_velocity - returns the current velocity in cm/s
*
* @return velocity vector:
* .x : latitude velocity in cm/s
* .y : longitude velocity in cm/s
* .z : vertical velocity in cm/s
*/
virtual const Vector3f& get_velocity() const = 0;
/**
* get_speed_xy - returns the current horizontal speed in cm/s
*
* @returns the current horizontal speed in cm/s
*/
virtual float get_speed_xy() const = 0;
//
// Z Axis methods
//
/**
* get_altitude - get latest altitude estimate in cm above the
* reference position
* @return
*/
virtual float get_altitude() const = 0;
/**
* get_velocity_z - returns the current climbrate.
*
* @see get_velocity().z
*
* @return climbrate in cm/s (positive up)
*/
virtual float get_velocity_z() const = 0;
};
#if AP_AHRS_NAVEKF_AVAILABLE
#include "AP_InertialNav_NavEKF.h"
#endif