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/home/jgoppert/Projects/ap/libraries/AP_DCM/AP_DCM_HIL.h

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00001 #ifndef AP_DCM_HIL_H
00002 #define AP_DCM_HIL_H
00003 
00004 #include <FastSerial.h>
00005 #include <AP_Math.h>
00006 #include <inttypes.h>
00007 #include "WProgram.h"
00008 #include <AP_Compass.h>
00009 #include <AP_ADC.h>
00010 #include <AP_GPS.h>
00011 #include <AP_IMU.h>
00012 
00013 
00014 class AP_DCM_HIL
00015 {
00016 public:
00017         // Constructors
00018         AP_DCM_HIL() :
00019                 _dcm_matrix(1, 0, 0,
00020                                         0, 1, 0,
00021                                         0, 0, 1)
00022         {}
00023 
00024         // Accessors
00025         Vector3f        get_gyro(void) {return _omega_integ_corr; }
00026         Vector3f        get_accel(void) { return _accel_vector; }
00027         Matrix3f        get_dcm_matrix(void) {return _dcm_matrix; }
00028         Matrix3f        get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix;  return temp.transpose();}
00029         
00030         void            set_centripetal(bool b) {}
00031         void            set_compass(Compass *compass) {}
00032 
00033         // Methods
00034         void            update_DCM(float _G_Dt) {}
00035 
00036         float           get_health(void) { return 1.0; }
00037 
00038         long            roll_sensor;                                    // Degrees * 100
00039         long            pitch_sensor;                                   // Degrees * 100
00040         long            yaw_sensor;                                             // Degrees * 100
00041 
00042         float           roll;                                                   // Radians
00043         float           pitch;                                                  // Radians
00044         float           yaw;                                                    // Radians
00045 
00046         uint8_t         gyro_sat_count;
00047         uint8_t         renorm_sqrt_count;
00048         uint8_t         renorm_blowup_count;
00049 
00050         void            setHil(float roll, float pitch, float yaw,
00051                                         float rollRate, float pitchRate, float yawRate);
00052 private:
00053         // Methods
00054                 Matrix3f        _dcm_matrix;
00055         Vector3f        _omega_integ_corr;
00056         Vector3f        _accel_vector;
00057 };
00058 
00059 #endif
00060 
00061 
00062 

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