ardupilot/libraries/AP_AHRS/AP_AHRS_HIL.h

#ifndef AP_AHRS_HIL_H
#define AP_AHRS_HIL_H

class AP_AHRS_HIL : public AP_AHRS
{
public:
	// Constructors
	AP_AHRS_HIL(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
	{
	}

	// Accessors
	Vector3f get_gyro(void) {return _omega; }

	Matrix3f get_dcm_matrix(void) {
		Matrix3f m;
		m.from_euler(roll, pitch, yaw);
		return m;
	}

	// Methods
	void 		update(void) {}
	void 		setHil(float roll, float pitch, float yaw,
			       float rollRate, float pitchRate, float yawRate);

	// return the current estimate of the gyro drift
	Vector3f get_gyro_drift(void) { return Vector3f(0,0,0); }

	// 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; }

	// settable parameters
	AP_Float	_kp;
	AP_Float	_kp_yaw;
	AP_Float	gps_gain;

private:
	Vector3f 	_omega;
};

#endif