mirror of https://github.com/ArduPilot/ardupilot
109 lines
2.6 KiB
C++
109 lines
2.6 KiB
C++
#ifndef AP_DCM_h
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#define AP_DCM_h
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// teporarily include all other classes here
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// since this naming is a bit off from the
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// convention and the AP_DCM should be the top
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// header file
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#include "AP_DCM_HIL.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 <AP_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
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{
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public:
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// Constructors
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AP_DCM(IMU *imu, GPS *gps) :
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_imu(imu),
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_gps(gps),
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_compass(0),
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_dcm_matrix(1, 0, 0,
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0, 1, 0,
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0, 0, 1),
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_course_over_ground_x(0),
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_course_over_ground_y(1)
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{}
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AP_DCM(IMU *imu, GPS *gps, Compass *withCompass) :
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_imu(imu),
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_gps(gps),
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_compass(withCompass),
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_dcm_matrix(1, 0, 0,
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0, 1, 0,
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0, 0, 1),
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_course_over_ground_x(0),
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_course_over_ground_y(1)
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{}
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// Accessors
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Vector3f get_gyro(void) {return _omega_integ_corr; } // We return the raw gyro vector corrected for bias
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Vector3f get_accel(void) { return _accel_vector; }
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Matrix3f get_dcm_matrix(void) {return _dcm_matrix; }
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Matrix3f get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix; return temp.transpose();}
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void set_centripetal(bool b);
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void set_compass(Compass *compass);
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// Methods
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void update_DCM(float _G_Dt);
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float get_health(void);
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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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uint8_t gyro_sat_count;
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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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Compass * _compass;
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GPS * _gps;
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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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float _health;
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bool _centripetal;
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};
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#endif
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