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