mirror of https://github.com/ArduPilot/ardupilot
31 lines
727 B
C++
31 lines
727 B
C++
/*
|
|
APM_AHRS_HIL.cpp
|
|
|
|
Hardware in the loop AHRS object
|
|
|
|
This library is free software; you can redistribute it and/or
|
|
modify it under the terms of the GNU Lesser General Public
|
|
License as published by the Free Software Foundation; either
|
|
version 2.1 of the License, or (at your option) any later
|
|
version.
|
|
*/
|
|
|
|
#include <FastSerial.h>
|
|
#include <AP_AHRS.h>
|
|
|
|
/**************************************************/
|
|
void
|
|
AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw,
|
|
float _rollRate, float _pitchRate, float _yawRate)
|
|
{
|
|
roll = _roll;
|
|
pitch = _pitch;
|
|
yaw = _yaw;
|
|
|
|
_omega(_rollRate, _pitchRate, _yawRate);
|
|
|
|
roll_sensor = ToDeg(roll)*100;
|
|
pitch_sensor = ToDeg(pitch)*100;
|
|
yaw_sensor = ToDeg(yaw)*100;
|
|
}
|