mirror of https://github.com/ArduPilot/ardupilot
110 lines
2.8 KiB
C++
110 lines
2.8 KiB
C++
#ifndef AP_AHRS_H
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#define AP_AHRS_H
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/*
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AHRS (Attitude Heading Reference System) interface for ArduPilot
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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 version.
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*/
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#include <AP_Math.h>
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#include <inttypes.h>
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#include <AP_Compass.h>
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#include <AP_GPS.h>
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#include <AP_IMU.h>
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#if defined(ARDUINO) && ARDUINO >= 100
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#include "Arduino.h"
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#else
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#include "WProgram.h"
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#endif
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class AP_AHRS
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{
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public:
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// Constructor
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AP_AHRS(IMU *imu, GPS *&gps):
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_imu(imu),
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_gps(gps)
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{
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// base the ki values by the sensors maximum drift
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// rate. The APM2 has gyros which are much less drift
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// prone than the APM1, so we should have a lower ki,
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// which will make us less prone to increasing omegaI
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// incorrectly due to sensor noise
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_gyro_drift_limit = imu->get_gyro_drift_rate();
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}
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// Accessors
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void set_centripetal(bool b) { _centripetal = b; }
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bool get_centripetal(void) { return _centripetal; }
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void set_compass(Compass *compass) { _compass = compass; }
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// Methods
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virtual void update(void) = 0;
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// Euler angles (radians)
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float roll;
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float pitch;
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float yaw;
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// integer Euler angles (Degrees * 100)
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int32_t roll_sensor;
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int32_t pitch_sensor;
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int32_t yaw_sensor;
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// return a smoothed and corrected gyro vector
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virtual Vector3f get_gyro(void) = 0;
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// return the current estimate of the gyro drift
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virtual Vector3f get_gyro_drift(void) = 0;
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// reset the current attitude, used on new IMU calibration
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virtual void reset(bool recover_eulers=false) = 0;
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// how often our attitude representation has gone out of range
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uint8_t renorm_range_count;
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// how often our attitude representation has blown up completely
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uint8_t renorm_blowup_count;
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// return the average size of the roll/pitch error estimate
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// since last call
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virtual float get_error_rp(void) = 0;
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// return the average size of the yaw error estimate
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// since last call
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virtual float get_error_yaw(void) = 0;
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// return a DCM rotation matrix representing our current
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// attitude
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virtual Matrix3f get_dcm_matrix(void) = 0;
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protected:
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// pointer to compass object, if enabled
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Compass * _compass;
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// time in microseconds of last compass update
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uint32_t _compass_last_update;
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// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
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// IMU under us without our noticing.
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GPS *&_gps;
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IMU *_imu;
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// true if we are doing centripetal acceleration correction
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bool _centripetal;
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// the limit of the gyro drift claimed by the sensors, in
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// radians/s/s
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float _gyro_drift_limit;
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};
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#include <AP_AHRS_DCM.h>
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#include <AP_AHRS_Quaternion.h>
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#include <AP_AHRS_HIL.h>
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#endif // AP_AHRS_H
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