ardupilot/libraries/AP_AHRS/AP_AHRS_HIL.h

50 lines
999 B
C++

#ifndef __AP_AHRS_HIL_H__
#define __AP_AHRS_HIL_H__
class AP_AHRS_HIL : public AP_AHRS
{
public:
// Constructors
AP_AHRS_HIL(AP_InertialSensor *ins, GPS *&gps) : AP_AHRS(ins, 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) {
_ins->update();
}
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;
}
private:
Vector3f _omega;
};
#endif // __AP_AHRS_HIL_H__