46 lines
1.3 KiB
C++
46 lines
1.3 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AHRS View class - for creating a 2nd view of the vehicle attitude
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*
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*/
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#include "AP_AHRS_View.h"
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AP_AHRS_View::AP_AHRS_View(AP_AHRS &_ahrs, enum Rotation _rotation) :
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rotation(_rotation),
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ahrs(_ahrs)
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{
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}
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// update state
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void AP_AHRS_View::update(void)
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{
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rot_body_to_ned = ahrs.get_rotation_body_to_ned();
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gyro = ahrs.get_gyro();
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rot_body_to_ned.to_euler(&roll, &pitch, &yaw);
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roll_sensor = degrees(roll) * 100;
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pitch_sensor = degrees(pitch) * 100;
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yaw_sensor = degrees(yaw) * 100;
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ahrs.calc_trig(rot_body_to_ned,
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trig.cos_roll, trig.cos_pitch, trig.cos_yaw,
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trig.sin_roll, trig.sin_pitch, trig.sin_yaw);
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}
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