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AP_Compass_HIL.h

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00001 #ifndef AP_Compass_HIL_H
00002 #define AP_Compass_HIL_H
00003 
00004 #include <Compass.h>
00005 #include "AP_Compass_HMC5843.h" // to get #defines since we are modelling this
00006 #include "WProgram.h"
00007 
00008 class AP_Compass_HIL : public Compass
00009 {
00010   public:
00011         AP_Compass_HIL();  // Constructor
00012         
00013         bool            init(int initialise_wire_lib = 1);
00014         void            read();
00015         void            calculate(float roll, float pitch);
00016         void            set_orientation(const Matrix3f &rotation_matrix);
00017         void            set_offsets(int x, int y, int z);
00018         void            set_declination(float radians);
00019     void                setHIL(float Mag_X, float Mag_Y, float Mag_Z);
00020 
00021   private:
00022         int             orientation;
00023         Matrix3f        orientation_matrix;
00024         float           calibration[3];
00025         int             offset[3];
00026         float           declination;
00027 };
00028 
00029 #endif

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