ardupilot/libraries/AP_AHRS/AP_AHRS_HIL.h

53 lines
1.0 KiB
C++

#ifndef __AP_AHRS_HIL_H__
#define __AP_AHRS_HIL_H__
class AP_AHRS_HIL : public AP_AHRS
{
public:
// Constructors
AP_AHRS_HIL(AP_InertialSensor &ins, GPS *&gps) :
AP_AHRS(ins, gps),
_drift()
{}
// Accessors
const Vector3f get_gyro(void) const {
return _omega;
}
const Matrix3f &get_dcm_matrix(void) const {
return _dcm_matrix;
}
// Methods
void update(void) {
_ins.update();
}
void setHil(float roll, float pitch, float yaw,
float rollRate, float pitchRate, float yawRate);
// return the current estimate of the gyro drift
const Vector3f &get_gyro_drift(void) const {
return _drift;
}
// reset the current attitude, used on new IMU calibration
void reset(bool recover_eulers=false) {
}
float get_error_rp(void) {
return 0;
}
float get_error_yaw(void) {
return 0;
}
private:
Vector3f _omega;
Matrix3f _dcm_matrix;
Vector3f _drift;
};
#endif // __AP_AHRS_HIL_H__