mirror of https://github.com/ArduPilot/ardupilot
102 lines
2.5 KiB
C++
102 lines
2.5 KiB
C++
#ifndef AP_AHRS_DCM_H
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#define AP_AHRS_DCM_H
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/*
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DCM based AHRS (Attitude Heading Reference System) interface for
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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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class AP_AHRS_DCM : public AP_AHRS
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{
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public:
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// Constructors
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AP_AHRS_DCM(IMU *imu, GPS *&gps) : AP_AHRS(imu, gps)
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{
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_dcm_matrix.identity();
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// these are experimentally derived from the simulator
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// with large drift levels
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_ki = 0.0087;
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_ki_yaw = 0.01;
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_kp = 0.4;
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_kp_yaw.set(0.4);
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}
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// return the smoothed gyro vector corrected for drift
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Vector3f get_gyro(void) {return _omega; }
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Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
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// return the current drift correction integrator value
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Vector3f get_gyro_drift(void) {return _omega_I; }
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// Methods
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void update(void);
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void reset(bool recover_eulers = false);
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// status reporting
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float get_error_rp(void);
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float get_error_yaw(void);
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// settable parameters
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AP_Float _kp_yaw;
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private:
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float _kp;
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float _ki;
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float _ki_yaw;
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bool _have_initial_yaw;
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// Methods
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void matrix_update(float _G_Dt);
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void normalize(void);
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void check_matrix(void);
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bool renorm(Vector3f const &a, Vector3f &result);
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void drift_correction(float deltat);
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void drift_correction_yaw(float deltat);
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float yaw_error_compass();
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float yaw_error_gps();
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void euler_angles(void);
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// primary representation of attitude
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Matrix3f _dcm_matrix;
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Vector3f _gyro_vector; // Store the gyros turn rate in a vector
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Vector3f _accel_vector; // current accel vector
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Vector3f _omega_P; // accel Omega proportional correction
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Vector3f _omega_yaw_P; // proportional yaw correction
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Vector3f _omega_I; // Omega Integrator correction
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Vector3f _omega_I_sum;
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float _omega_I_sum_time;
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Vector3f _omega; // Corrected Gyro_Vector data
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// state to support status reporting
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float _renorm_val_sum;
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uint16_t _renorm_val_count;
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float _error_rp_sum;
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uint16_t _error_rp_count;
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float _error_rp_last;
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float _error_yaw_sum;
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uint16_t _error_yaw_count;
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float _error_yaw_last;
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// time in millis when we last got a GPS heading
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uint32_t _gps_last_update;
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// state of accel drift correction
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Vector3f _ra_sum;
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Vector3f _last_velocity;
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float _ra_deltat;
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uint32_t _ra_sum_start;
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// current drift error in earth frame
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Vector3f _drift_error_earth;
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};
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#endif // AP_AHRS_DCM_H
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