mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.5 KiB
C++
52 lines
1.5 KiB
C++
/*
|
|
* Navigator_Dcm.h
|
|
* Copyright (C) James Goppert/ Wenyao Xie 2011 james.goppert@gmail.com/ wenyaoxie@gmail.com
|
|
*
|
|
* This file is free software: you can redistribute it and/or modify it
|
|
* under the terms of the GNU General Public License as published by the
|
|
* Free Software Foundation, either version 3 of the License, or
|
|
* (at your option) any later version.
|
|
*
|
|
* This file is distributed in the hope that it will be useful, but
|
|
* WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
* See the GNU General Public License for more details.
|
|
*
|
|
* You should have received a copy of the GNU General Public License along
|
|
* with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
|
|
#ifndef Navigator_Dcm_H
|
|
#define Navigator_Dcm_H
|
|
|
|
#include "AP_Navigator.h"
|
|
#include <FastSerial.h>
|
|
#include "AP_ControllerBlock.h"
|
|
#include <AP_DCM.h>
|
|
|
|
class RangeFinder;
|
|
|
|
namespace apo {
|
|
|
|
class Navigator_Dcm: public AP_Navigator {
|
|
public:
|
|
Navigator_Dcm(AP_Board * board, const uint16_t key, const prog_char_t * name = NULL);
|
|
virtual void calibrate();
|
|
virtual void updateFast(float dt);
|
|
virtual void updateSlow(float dt);
|
|
void updateGpsLight(void);
|
|
private:
|
|
AP_DCM _dcm;
|
|
AP_Var_group _group;
|
|
uint16_t _imuOffsetAddress;
|
|
BlockLowPass _baroLowPass;
|
|
AP_Float _groundTemperature;
|
|
AP_Float _groundPressure;
|
|
RangeFinder * _rangeFinderDown;
|
|
};
|
|
|
|
} // namespace apo
|
|
|
|
#endif // Navigator_Dcm_H
|
|
// vim:ts=4:sw=4:expandtab
|