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Commit b6db467e authored by uncrustify's avatar uncrustify Committed by Pat Hickey
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uncrustify libraries/AP_AHRS/AP_AHRS.h

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libraries/AP_AHRS/AP_AHRS.h
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#ifndef AP_AHRS_H #ifndef AP_AHRS_H
#define AP_AHRS_H #define AP_AHRS_H
/* /*
AHRS (Attitude Heading Reference System) interface for ArduPilot * AHRS (Attitude Heading Reference System) interface for ArduPilot
*
This library is free software; you can redistribute it and/or * This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public * modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either * License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version. * version 2.1 of the License, or (at your option) any later version.
*/ */
#include <AP_Math.h> #include <AP_Math.h>
#include <inttypes.h> #include <inttypes.h>
...@@ -18,147 +18,156 @@ ...@@ -18,147 +18,156 @@
#include <AP_Baro.h> #include <AP_Baro.h>
#if defined(ARDUINO) && ARDUINO >= 100 #if defined(ARDUINO) && ARDUINO >= 100
#include "Arduino.h" #include "Arduino.h"
#else #else
#include "WProgram.h" #include "WProgram.h"
#endif #endif
class AP_AHRS class AP_AHRS
{ {
public: public:
// Constructor // Constructor
AP_AHRS(IMU *imu, GPS *&gps): AP_AHRS(IMU *imu, GPS *&gps) :
_imu(imu), _imu(imu),
_gps(gps), _gps(gps),
_barometer(NULL) _barometer(NULL)
{ {
// base the ki values by the sensors maximum drift // base the ki values by the sensors maximum drift
// rate. The APM2 has gyros which are much less drift // rate. The APM2 has gyros which are much less drift
// prone than the APM1, so we should have a lower ki, // prone than the APM1, so we should have a lower ki,
// which will make us less prone to increasing omegaI // which will make us less prone to increasing omegaI
// incorrectly due to sensor noise // incorrectly due to sensor noise
_gyro_drift_limit = imu->get_gyro_drift_rate(); _gyro_drift_limit = imu->get_gyro_drift_rate();
} }
// empty init // empty init
virtual void init() {}; virtual void init() {
};
// Accessors
void set_fly_forward(bool b) { _fly_forward = b; } // Accessors
void set_compass(Compass *compass) { _compass = compass; } void set_fly_forward(bool b) {
void set_barometer(AP_Baro *barometer) { _barometer = barometer; } _fly_forward = b;
void set_airspeed(AP_Airspeed *airspeed) { _airspeed = airspeed; } }
void set_compass(Compass *compass) {
// Methods _compass = compass;
virtual void update(void) = 0; }
void set_barometer(AP_Baro *barometer) {
// Euler angles (radians) _barometer = barometer;
float roll; }
float pitch; void set_airspeed(AP_Airspeed *airspeed) {
float yaw; _airspeed = airspeed;
}
// integer Euler angles (Degrees * 100)
int32_t roll_sensor; // Methods
int32_t pitch_sensor; virtual void update(void) = 0;
int32_t yaw_sensor;
// Euler angles (radians)
// return a smoothed and corrected gyro vector float roll;
virtual Vector3f get_gyro(void) = 0; float pitch;
float yaw;
// return the current estimate of the gyro drift
virtual Vector3f get_gyro_drift(void) = 0; // integer Euler angles (Degrees * 100)
int32_t roll_sensor;
// reset the current attitude, used on new IMU calibration int32_t pitch_sensor;
virtual void reset(bool recover_eulers=false) = 0; int32_t yaw_sensor;
// how often our attitude representation has gone out of range // return a smoothed and corrected gyro vector
uint8_t renorm_range_count; virtual Vector3f get_gyro(void) = 0;
// how often our attitude representation has blown up completely // return the current estimate of the gyro drift
uint8_t renorm_blowup_count; virtual Vector3f get_gyro_drift(void) = 0;
// return the average size of the roll/pitch error estimate // reset the current attitude, used on new IMU calibration
// since last call virtual void reset(bool recover_eulers=false) = 0;
virtual float get_error_rp(void) = 0;
// how often our attitude representation has gone out of range
// return the average size of the yaw error estimate uint8_t renorm_range_count;
// since last call
virtual float get_error_yaw(void) = 0; // how often our attitude representation has blown up completely
uint8_t renorm_blowup_count;
// return a DCM rotation matrix representing our current
// attitude // return the average size of the roll/pitch error estimate
virtual Matrix3f get_dcm_matrix(void) = 0; // since last call
virtual float get_error_rp(void) = 0;
// get our current position, either from GPS or via
// dead-reckoning. Return true if a position is available, // return the average size of the yaw error estimate
// otherwise false. This only updates the lat and lng fields // since last call
// of the Location virtual float get_error_yaw(void) = 0;
bool get_position(struct Location *loc) {
if (!_gps || _gps->status() != GPS::GPS_OK) { // return a DCM rotation matrix representing our current
return false; // attitude
} virtual Matrix3f get_dcm_matrix(void) = 0;
loc->lat = _gps->latitude;
loc->lng = _gps->longitude; // get our current position, either from GPS or via
return true; // dead-reckoning. Return true if a position is available,
} // otherwise false. This only updates the lat and lng fields
// of the Location
// return a wind estimation vector, in m/s bool get_position(struct Location *loc) {
Vector3f wind_estimate(void) { if (!_gps || _gps->status() != GPS::GPS_OK) {
return Vector3f(0,0,0); return false;
} }
loc->lat = _gps->latitude;
// return true if yaw has been initialised loc->lng = _gps->longitude;
bool yaw_initialised(void) { return true;
return _have_initial_yaw; }
}
// return a wind estimation vector, in m/s
// set the fast gains flag Vector3f wind_estimate(void) {
void set_fast_gains(bool setting) { return Vector3f(0,0,0);
_fast_ground_gains = setting; }
}
// return true if yaw has been initialised
// settable parameters bool yaw_initialised(void) {
AP_Float _kp_yaw; return _have_initial_yaw;
AP_Float _kp; }
AP_Float gps_gain;
AP_Int8 _gps_use; // set the fast gains flag
void set_fast_gains(bool setting) {
// for holding parameters _fast_ground_gains = setting;
static const struct AP_Param::GroupInfo var_info[]; }
// settable parameters
AP_Float _kp_yaw;
AP_Float _kp;
AP_Float gps_gain;
AP_Int8 _gps_use;
// for holding parameters
static const struct AP_Param::GroupInfo var_info[];
protected: protected:
// whether the yaw value has been intialised with a reference // whether the yaw value has been intialised with a reference
bool _have_initial_yaw; bool _have_initial_yaw;
// pointer to compass object, if available // pointer to compass object, if available
Compass * _compass; Compass * _compass;
// pointer to airspeed object, if available // pointer to airspeed object, if available
AP_Airspeed * _airspeed; AP_Airspeed * _airspeed;
// time in microseconds of last compass update // time in microseconds of last compass update
uint32_t _compass_last_update; uint32_t _compass_last_update;
// note: we use ref-to-pointer here so that our caller can change the GPS without our noticing // note: we use ref-to-pointer here so that our caller can change the GPS without our noticing
// IMU under us without our noticing. // IMU under us without our noticing.
IMU *_imu; IMU *_imu;
GPS *&_gps; GPS *&_gps;
AP_Baro *_barometer; AP_Baro *_barometer;
// should we raise the gain on the accelerometers for faster // should we raise the gain on the accelerometers for faster
// convergence, used when disarmed for ArduCopter // convergence, used when disarmed for ArduCopter
bool _fast_ground_gains; bool _fast_ground_gains;
// true if we can assume the aircraft will be flying forward // true if we can assume the aircraft will be flying forward
// on its X axis // on its X axis
bool _fly_forward; bool _fly_forward;
// the limit of the gyro drift claimed by the sensors, in // the limit of the gyro drift claimed by the sensors, in
// radians/s/s // radians/s/s
float _gyro_drift_limit; float _gyro_drift_limit;
// acceleration due to gravity in m/s/s // acceleration due to gravity in m/s/s
static const float _gravity = 9.80665; static const float _gravity = 9.80665;
}; };
#include <AP_AHRS_DCM.h> #include <AP_AHRS_DCM.h>
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