ardupilot/libraries/APO/Navigator_Dcm.h

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
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