mirror of
https://github.com/ArduPilot/ardupilot
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da9ecf342c
git-svn-id: https://arducopter.googlecode.com/svn/trunk@948 f9c3cf11-9bcb-44bc-f272-b75c42450872
80 lines
2.1 KiB
C++
80 lines
2.1 KiB
C++
#ifndef AP_DCM_FW_h
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#define AP_DCM_FW_h
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#include <FastSerial.h>
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#include <AP_Math.h>
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#include <inttypes.h>
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#include "WProgram.h"
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#include <APM_Compass.h>
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#include <AP_ADC.h>
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#include <AP_GPS.h>
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#include <AP_IMU.h>
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class AP_DCM_FW
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{
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public:
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// Constructors
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AP_DCM_FW(AP_ADC * adc, GPS *gps); // Constructor - no magnetometer
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AP_DCM_FW(AP_ADC * adc, GPS *gps, APM_Compass_Class *withCompass); // Constructor for case with magnetometer
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// Accessors
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Vector3f get_gyros(void);
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Vector3f get_accels(void);
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Matrix3f get_dcm_matrix(void);
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AP_IMU * get_imu(void);
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// Methods
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void quick_init(uint16_t *_offset_address);
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void gyro_init(uint16_t *_offset_address);
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void init(uint16_t *_offset_address);
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void update_DCM(float _G_Dt);
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long roll_sensor; // Degrees * 100
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long pitch_sensor; // Degrees * 100
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long yaw_sensor; // Degrees * 100
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float roll; // Radians
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float pitch; // Radians
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float yaw; // Radians
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float imu_health; //Metric based on accel gain deweighting
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uint8_t gyro_sat_count;
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uint8_t adc_constraints;
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uint8_t renorm_sqrt_count;
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uint8_t renorm_blowup_count;
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private:
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// Methods
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void read_adc_raw(void);
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void accel_adjust(void);
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float read_adc(int select);
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void matrix_update(float _G_Dt);
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void normalize(void);
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Vector3f renorm(Vector3f const &a, int &problem);
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void drift_correction(void);
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void euler_angles(void);
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// members
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APM_Compass_Class *_compass;
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GPS *_gps;
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AP_IMU _imu;
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Matrix3f _dcm_matrix;
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Vector3f _accel_vector; // Store the acceleration in a vector
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Vector3f _gyro_vector; //Store the gyros turn rate in a vector
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Vector3f _omega_P; //Omega Proportional correction
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Vector3f _omega_I; //Omega Integrator correction
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Vector3f _omega_integ_corr; //Partially corrected Gyro_Vector data - used for centrepetal correction
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Vector3f _omega; //Corrected Gyro_Vector data
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Vector3f _error_roll_pitch;
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Vector3f _error_yaw;
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float _errorCourse;
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float _course_over_ground_x; //Course overground X axis
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float _course_over_ground_y; //Course overground Y axis
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};
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#endif
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