#include <AP_AHRS_DCM.h>

Inheritance diagram for AP_AHRS_DCM:

Collaboration diagram for AP_AHRS_DCM:

Public Member Functions
	AP_AHRS_DCM ()

	AP_AHRS_DCM (const AP_AHRS_DCM &other)=delete

AP_AHRS_DCM &	operator= (const AP_AHRS_DCM &)=delete

const Vector3f &	get_gyro () const override

const Matrix3f &	get_rotation_body_to_ned () const override

const Vector3f &	get_gyro_drift () const override

void	reset_gyro_drift () override

void	update (bool skip_ins_update=false) override

void	reset (bool recover_eulers=false) override

void	reset_attitude (const float &roll, const float &pitch, const float &yaw) override

virtual bool	get_position (struct Location &loc) const override

float	get_error_rp () const override

float	get_error_yaw () const override

Vector3f	wind_estimate () const override

void	get_relative_position_D_home (float &posD) const override

bool	airspeed_estimate (float *airspeed_ret) const override

bool	use_compass () override

void	set_home (const Location &loc) override

void	estimate_wind (void)

bool	healthy () const override

uint32_t	uptime_ms () const override

Public Member Functions inherited from AP_AHRS
	AP_AHRS ()

virtual	~AP_AHRS ()

virtual void	init ()

void	set_fly_forward (bool b)

bool	get_fly_forward (void) const

void	set_likely_flying (bool b)

bool	get_likely_flying (void) const

uint32_t	get_time_flying_ms (void) const

AHRS_VehicleClass	get_vehicle_class (void) const

void	set_vehicle_class (AHRS_VehicleClass vclass)

void	set_wind_estimation (bool b)

void	set_compass (Compass *compass)

const Compass *	get_compass () const

void	set_optflow (const OpticalFlow *optflow)

const OpticalFlow *	get_optflow () const

void	set_orientation ()

void	set_airspeed (AP_Airspeed *airspeed)

void	set_beacon (AP_Beacon *beacon)

const AP_Airspeed *	get_airspeed (void) const

const AP_Beacon *	get_beacon (void) const

virtual uint8_t	get_primary_accel_index (void) const

virtual uint8_t	get_primary_gyro_index (void) const

virtual const Vector3f &	get_accel_ef (uint8_t i) const

virtual const Vector3f &	get_accel_ef (void) const

virtual const Vector3f &	get_accel_ef_blended (void) const

float	get_yaw_rate_earth (void) const

virtual const char *	prearm_failure_reason (void) const

virtual bool	have_ekf_logging (void) const

Vector3f	get_gyro_latest (void) const

const Matrix3f &	get_rotation_autopilot_body_to_vehicle_body (void) const

const Matrix3f &	get_rotation_vehicle_body_to_autopilot_body (void) const

virtual bool	get_hagl (float &height) const

bool	airspeed_estimate_true (float *airspeed_ret) const

float	get_EAS2TAS (void) const

bool	airspeed_sensor_enabled (void) const

virtual Vector2f	groundspeed_vector (void)

virtual bool	get_velocity_NED (Vector3f &vec) const

virtual bool	get_expected_mag_field_NED (Vector3f &ret) const

virtual bool	get_mag_field_correction (Vector3f &ret) const

virtual bool	get_relative_position_NED_home (Vector3f &vec) const

virtual bool	get_relative_position_NED_origin (Vector3f &vec) const

virtual bool	get_relative_position_NE_home (Vector2f &vecNE) const

virtual bool	get_relative_position_NE_origin (Vector2f &vecNE) const

virtual bool	get_relative_position_D_origin (float &posD) const

float	groundspeed (void)

bool	yaw_initialised (void) const

void	set_correct_centrifugal (bool setting)

bool	get_correct_centrifugal (void) const

const Vector3f &	get_trim () const

virtual void	set_trim (Vector3f new_trim)

virtual void	add_trim (float roll_in_radians, float pitch_in_radians, bool save_to_eeprom=true)

float	cos_roll () const

float	cos_pitch () const

float	cos_yaw () const

float	sin_roll () const

float	sin_pitch () const

float	sin_yaw () const

virtual bool	get_secondary_attitude (Vector3f &eulers) const

virtual bool	get_secondary_quaternion (Quaternion &quat) const

virtual bool	get_secondary_position (struct Location &loc) const

const struct Location &	get_home (void) const

void	lock_home ()

bool	home_is_locked () const

bool	home_is_set (void) const

virtual bool	set_origin (const Location &loc)

virtual bool	get_origin (Location &ret) const

void	Log_Write_Home_And_Origin ()

virtual bool	have_inertial_nav (void) const

uint8_t	get_active_accel_instance (void) const

virtual bool	initialised (void) const

virtual uint32_t	getLastYawResetAngle (float &yawAng) const

virtual uint32_t	getLastPosNorthEastReset (Vector2f &pos) const

virtual uint32_t	getLastVelNorthEastReset (Vector2f &vel) const

virtual uint32_t	getLastPosDownReset (float &posDelta) const

virtual bool	resetHeightDatum (void)

virtual bool	get_variances (float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar, Vector2f &offset) const

int8_t	get_ekf_type (void) const

virtual void	getCorrectedDeltaVelocityNED (Vector3f &ret, float &dt) const

AP_AHRS_View *	create_view (enum Rotation rotation)

float	getAOA (void)

float	getSSA (void)

Vector2f	rotate_earth_to_body2D (const Vector2f &ef_vector) const

Vector2f	rotate_body_to_earth2D (const Vector2f &bf) const

virtual void	update_AOA_SSA (void)

virtual bool	get_hgt_ctrl_limit (float &limit) const

virtual void	writeExtNavData (const Vector3f &sensOffset, const Vector3f &pos, const Quaternion &quat, float posErr, float angErr, uint32_t timeStamp_ms, uint32_t resetTime_ms)

Private Member Functions
void	matrix_update (float _G_Dt)

void	normalize (void)

void	check_matrix (void)

bool	renorm (Vector3f const &a, Vector3f &result)

void	drift_correction (float deltat)

void	drift_correction_yaw (void)

float	yaw_error_compass ()

void	euler_angles (void)

bool	have_gps (void) const

bool	use_fast_gains (void) const

Vector3f	ra_delayed (uint8_t instance, const Vector3f &ra)

float	_P_gain (float spin_rate)

float	_yaw_gain (void) const

Private Attributes
float	_ki

float	_ki_yaw

Matrix3f	_dcm_matrix

Matrix3f	_body_dcm_matrix

Vector3f	_omega_P

Vector3f	_omega_yaw_P

Vector3f	_omega_I

Vector3f	_omega_I_sum

float	_omega_I_sum_time

Vector3f	_omega

Vector3f	_ra_delay_buffer [INS_MAX_INSTANCES]

float	_renorm_val_sum

uint16_t	_renorm_val_count

float	_error_rp

float	_error_yaw

uint32_t	_gps_last_update

Vector3f	_ra_sum [INS_MAX_INSTANCES]

Vector3f	_last_velocity

float	_ra_deltat

uint32_t	_ra_sum_start

float	_last_declination

Vector2f	_mag_earth

bool	_have_gps_lock

int32_t	_last_lat

int32_t	_last_lng

float	_position_offset_north

float	_position_offset_east

bool	_have_position

Vector3f	_last_fuse

Vector3f	_last_vel

uint32_t	_last_wind_time

float	_last_airspeed

uint32_t	_last_consistent_heading

Vector3f	_wind

float	_imu1_weight

uint32_t	_last_failure_ms

uint32_t	_last_startup_ms

Additional Inherited Members
Static Public Member Functions inherited from AP_AHRS
static AP_AHRS *	get_singleton ()

Public Attributes inherited from AP_AHRS
float	roll

float	pitch

float	yaw

int32_t	roll_sensor

int32_t	pitch_sensor

int32_t	yaw_sensor

Static Public Attributes inherited from AP_AHRS
static const struct AP_Param::GroupInfo	var_info []

Protected Member Functions inherited from AP_AHRS
void	calc_trig (const Matrix3f &rot, float &cr, float &cp, float &cy, float &sr, float &sp, float &sy) const

void	update_trig (void)

void	update_cd_values (void)

Protected Attributes inherited from AP_AHRS
AHRS_VehicleClass	_vehicle_class

AP_Float	_kp_yaw

AP_Float	_kp

AP_Float	gps_gain

AP_Float	beta

AP_Int8	_gps_use

AP_Int8	_wind_max

AP_Int8	_board_orientation

AP_Int8	_gps_minsats

AP_Int8	_gps_delay

AP_Int8	_ekf_type

AP_Float	_custom_roll

AP_Float	_custom_pitch

AP_Float	_custom_yaw

Matrix3f	_custom_rotation

struct AP_AHRS::ahrs_flags	_flags

uint32_t	_last_flying_ms

Compass *	_compass

const OpticalFlow *	_optflow

AP_Airspeed *	_airspeed

AP_Beacon *	_beacon

uint32_t	_compass_last_update

AP_Vector3f	_trim

Vector3f	_last_trim

Matrix3f	_rotation_autopilot_body_to_vehicle_body

Matrix3f	_rotation_vehicle_body_to_autopilot_body

float	_gyro_drift_limit

Vector3f	_accel_ef [INS_MAX_INSTANCES]

Vector3f	_accel_ef_blended

Vector2f	_lp

Vector2f	_hp

Vector2f	_lastGndVelADS

struct Location	_home

bool	_home_is_set:1

bool	_home_locked:1

float	_cos_roll

float	_cos_pitch

float	_cos_yaw

float	_sin_roll

float	_sin_pitch

float	_sin_yaw

uint8_t	_active_accel_instance

AP_AHRS_View *	_view

float	_AOA

float	_SSA

uint32_t	_last_AOA_update_ms

Detailed Description

Definition at line 24 of file AP_AHRS_DCM.h.

Constructor & Destructor Documentation

◆ AP_AHRS_DCM() [1/2]

AP_AHRS_DCM::AP_AHRS_DCM ( )

inline

Definition at line 26 of file AP_AHRS_DCM.h.

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◆ AP_AHRS_DCM() [2/2]

AP_AHRS_DCM::AP_AHRS_DCM ( const AP_AHRS_DCM & other )

delete

Member Function Documentation

◆ _P_gain()

float AP_AHRS_DCM::_P_gain ( float spin_rate )

private

Definition at line 339 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction(), and drift_correction_yaw().

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◆ _yaw_gain()

float AP_AHRS_DCM::_yaw_gain ( void ) const

private

Definition at line 358 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction_yaw().

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◆ airspeed_estimate()

bool AP_AHRS_DCM::airspeed_estimate ( float * airspeed_ret ) const

overridevirtual

Reimplemented from AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 980 of file AP_AHRS_DCM.cpp.

Referenced by AP_AHRS_NavEKF::airspeed_estimate(), and wind_estimate().

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◆ check_matrix()

void AP_AHRS_DCM::check_matrix ( void )

private

Definition at line 201 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction(), and update().

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◆ drift_correction()

void AP_AHRS_DCM::drift_correction ( float deltat )

private

Definition at line 575 of file AP_AHRS_DCM.cpp.

Referenced by update().

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◆ drift_correction_yaw()

void AP_AHRS_DCM::drift_correction_yaw ( void )

private

Definition at line 431 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction().

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◆ estimate_wind()

void AP_AHRS_DCM::estimate_wind ( void )

Definition at line 885 of file AP_AHRS_DCM.cpp.

Referenced by wind_estimate().

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◆ euler_angles()

void AP_AHRS_DCM::euler_angles ( void )

private

Definition at line 952 of file AP_AHRS_DCM.cpp.

Referenced by update().

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◆ get_error_rp()

float AP_AHRS_DCM::get_error_rp ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 76 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::get_error_rp().

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◆ get_error_yaw()

float AP_AHRS_DCM::get_error_yaw ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 79 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::get_error_yaw().

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◆ get_gyro()

const Vector3f& AP_AHRS_DCM::get_gyro ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 47 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::get_gyro().

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◆ get_gyro_drift()

const Vector3f& AP_AHRS_DCM::get_gyro_drift ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 57 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::get_gyro_drift().

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◆ get_position()

bool AP_AHRS_DCM::get_position ( struct Location & loc ) const

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 962 of file AP_AHRS_DCM.cpp.

Referenced by get_gyro_drift(), AP_AHRS_NavEKF::get_position(), and AP_AHRS_NavEKF::get_secondary_position().

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◆ get_relative_position_D_home()

void AP_AHRS_DCM::get_relative_position_D_home ( float & posD ) const

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 1019 of file AP_AHRS_DCM.cpp.

Referenced by wind_estimate().

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◆ get_rotation_body_to_ned()

const Matrix3f& AP_AHRS_DCM::get_rotation_body_to_ned ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 52 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::get_rotation_body_to_ned(), and AP_AHRS_NavEKF::get_secondary_quaternion().

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◆ have_gps()

bool AP_AHRS_DCM::have_gps ( void ) const

private

Definition at line 370 of file AP_AHRS_DCM.cpp.

Referenced by airspeed_estimate(), drift_correction(), drift_correction_yaw(), and use_compass().

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◆ healthy()

bool AP_AHRS_DCM::healthy ( void ) const

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 1027 of file AP_AHRS_DCM.cpp.

Referenced by AP_AHRS_NavEKF::healthy(), and wind_estimate().

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◆ matrix_update()

void AP_AHRS_DCM::matrix_update ( float _G_Dt )

private

Definition at line 101 of file AP_AHRS_DCM.cpp.

Referenced by update().

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◆ normalize()

void AP_AHRS_DCM::normalize ( void )

private

Definition at line 285 of file AP_AHRS_DCM.cpp.

Referenced by check_matrix(), and update().

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◆ operator=()

AP_AHRS_DCM& AP_AHRS_DCM::operator= ( const AP_AHRS_DCM & )

delete

Referenced by AP_AHRS_DCM().

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◆ ra_delayed()

Vector3f AP_AHRS_DCM::ra_delayed	(	uint8_t	instance,
		const Vector3f &	ra
	)

private

return an accel vector delayed by AHRS_ACCEL_DELAY samples for a specific accelerometer instance

Definition at line 552 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction().

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◆ renorm()

bool AP_AHRS_DCM::renorm	(	Vector3f const &	a,
		Vector3f &	result
	)

private

Definition at line 231 of file AP_AHRS_DCM.cpp.

Referenced by normalize().

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◆ reset()

void AP_AHRS_DCM::reset ( bool recover_eulers = false )

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 142 of file AP_AHRS_DCM.cpp.

Referenced by check_matrix(), get_gyro_drift(), normalize(), and AP_AHRS_NavEKF::reset().

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◆ reset_attitude()

void AP_AHRS_DCM::reset_attitude	(	const float &	roll,
		const float &	pitch,
		const float &	yaw
	)

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 192 of file AP_AHRS_DCM.cpp.

Referenced by get_gyro_drift(), and AP_AHRS_NavEKF::reset_attitude().

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◆ reset_gyro_drift()

void AP_AHRS_DCM::reset_gyro_drift ( void )

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 41 of file AP_AHRS_DCM.cpp.

Referenced by get_gyro_drift(), and AP_AHRS_NavEKF::reset_gyro_drift().

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◆ set_home()

void AP_AHRS_DCM::set_home ( const Location & loc )

overridevirtual

Implements AP_AHRS.

Definition at line 1011 of file AP_AHRS_DCM.cpp.

Referenced by wind_estimate().

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◆ update()

void AP_AHRS_DCM::update ( bool skip_ins_update = false )

overridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 50 of file AP_AHRS_DCM.cpp.

Referenced by get_gyro_drift(), loop(), and AP_AHRS_NavEKF::update_DCM().

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◆ uptime_ms()

uint32_t AP_AHRS_DCM::uptime_ms ( void ) const

overridevirtual

Implements AP_AHRS.

Definition at line 1036 of file AP_AHRS_DCM.cpp.

Referenced by wind_estimate().

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◆ use_compass()

bool AP_AHRS_DCM::use_compass ( void )

overridevirtual

Reimplemented from AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 393 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction(), drift_correction_yaw(), AP_AHRS_NavEKF::use_compass(), and wind_estimate().

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◆ use_fast_gains()

bool AP_AHRS_DCM::use_fast_gains ( void ) const

private

Definition at line 386 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction(), and drift_correction_yaw().

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◆ wind_estimate()

Vector3f AP_AHRS_DCM::wind_estimate ( void ) const

inlineoverridevirtual

Implements AP_AHRS.

Reimplemented in AP_AHRS_NavEKF.

Definition at line 84 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_NavEKF::wind_estimate().

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◆ yaw_error_compass()

float AP_AHRS_DCM::yaw_error_compass ( void )

private

Definition at line 307 of file AP_AHRS_DCM.cpp.

Referenced by drift_correction_yaw().

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Member Data Documentation

◆ _body_dcm_matrix

Matrix3f AP_AHRS_DCM::_body_dcm_matrix

private

Definition at line 125 of file AP_AHRS_DCM.h.

Referenced by euler_angles(), and get_rotation_body_to_ned().

◆ _dcm_matrix

Matrix3f AP_AHRS_DCM::_dcm_matrix

private

Definition at line 122 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_DCM(), check_matrix(), drift_correction(), drift_correction_yaw(), estimate_wind(), euler_angles(), matrix_update(), normalize(), reset(), reset_attitude(), and yaw_error_compass().

◆ _error_rp

float AP_AHRS_DCM::_error_rp

private

Definition at line 147 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_error_rp().

◆ _error_yaw

float AP_AHRS_DCM::_error_yaw

private

Definition at line 148 of file AP_AHRS_DCM.h.

Referenced by drift_correction_yaw(), and get_error_yaw().

◆ _gps_last_update

uint32_t AP_AHRS_DCM::_gps_last_update

private

Definition at line 151 of file AP_AHRS_DCM.h.

Referenced by drift_correction_yaw().

◆ _have_gps_lock

bool AP_AHRS_DCM::_have_gps_lock

private

Definition at line 164 of file AP_AHRS_DCM.h.

Referenced by drift_correction().

◆ _have_position

bool AP_AHRS_DCM::_have_position

private

Definition at line 175 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_position().

◆ _imu1_weight

float AP_AHRS_DCM::_imu1_weight

private

Definition at line 187 of file AP_AHRS_DCM.h.

Referenced by drift_correction().

◆ _ki

float AP_AHRS_DCM::_ki

private

Definition at line 106 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_DCM(), and drift_correction().

◆ _ki_yaw

float AP_AHRS_DCM::_ki_yaw

private

Definition at line 107 of file AP_AHRS_DCM.h.

Referenced by AP_AHRS_DCM(), and drift_correction_yaw().

◆ _last_airspeed

float AP_AHRS_DCM::_last_airspeed

private

Definition at line 181 of file AP_AHRS_DCM.h.

Referenced by airspeed_estimate(), and drift_correction().

◆ _last_consistent_heading

uint32_t AP_AHRS_DCM::_last_consistent_heading

private

Definition at line 182 of file AP_AHRS_DCM.h.

Referenced by use_compass().

◆ _last_declination

float AP_AHRS_DCM::_last_declination

private

Definition at line 160 of file AP_AHRS_DCM.h.

Referenced by yaw_error_compass().

◆ _last_failure_ms

uint32_t AP_AHRS_DCM::_last_failure_ms

private

Definition at line 190 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), healthy(), and normalize().

◆ _last_fuse

Vector3f AP_AHRS_DCM::_last_fuse

private

Definition at line 178 of file AP_AHRS_DCM.h.

Referenced by estimate_wind().

◆ _last_lat

int32_t AP_AHRS_DCM::_last_lat

private

Definition at line 167 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_position().

◆ _last_lng

int32_t AP_AHRS_DCM::_last_lng

private

Definition at line 168 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_position().

◆ _last_startup_ms

uint32_t AP_AHRS_DCM::_last_startup_ms

private

Definition at line 193 of file AP_AHRS_DCM.h.

Referenced by reset(), update(), uptime_ms(), and use_fast_gains().

◆ _last_vel

Vector3f AP_AHRS_DCM::_last_vel

private

Definition at line 179 of file AP_AHRS_DCM.h.

Referenced by estimate_wind().

◆ _last_velocity

Vector3f AP_AHRS_DCM::_last_velocity

private

Definition at line 155 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and estimate_wind().

◆ _last_wind_time

uint32_t AP_AHRS_DCM::_last_wind_time

private

Definition at line 180 of file AP_AHRS_DCM.h.

Referenced by estimate_wind().

◆ _mag_earth

Vector2f AP_AHRS_DCM::_mag_earth

private

Definition at line 161 of file AP_AHRS_DCM.h.

Referenced by yaw_error_compass().

◆ _omega

Vector3f AP_AHRS_DCM::_omega

private

Definition at line 132 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), drift_correction_yaw(), get_gyro(), matrix_update(), and reset().

◆ _omega_I

Vector3f AP_AHRS_DCM::_omega_I

private

Definition at line 129 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), get_gyro_drift(), matrix_update(), reset(), and reset_gyro_drift().

◆ _omega_I_sum

Vector3f AP_AHRS_DCM::_omega_I_sum

private

Definition at line 130 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), drift_correction_yaw(), and reset_gyro_drift().

◆ _omega_I_sum_time

float AP_AHRS_DCM::_omega_I_sum_time

private

Definition at line 131 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and reset_gyro_drift().

◆ _omega_P

Vector3f AP_AHRS_DCM::_omega_P

private

Definition at line 127 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), matrix_update(), and reset().

◆ _omega_yaw_P

Vector3f AP_AHRS_DCM::_omega_yaw_P

private

Definition at line 128 of file AP_AHRS_DCM.h.

Referenced by drift_correction_yaw(), matrix_update(), and reset().

◆ _position_offset_east

float AP_AHRS_DCM::_position_offset_east

private

Definition at line 172 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_position().

◆ _position_offset_north

float AP_AHRS_DCM::_position_offset_north

private

Definition at line 171 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and get_position().

◆ _ra_delay_buffer

Vector3f AP_AHRS_DCM::_ra_delay_buffer[INS_MAX_INSTANCES]

private

Definition at line 136 of file AP_AHRS_DCM.h.

Referenced by ra_delayed().

◆ _ra_deltat

float AP_AHRS_DCM::_ra_deltat

private

Definition at line 156 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and update().

◆ _ra_sum

Vector3f AP_AHRS_DCM::_ra_sum[INS_MAX_INSTANCES]

private

Definition at line 154 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), and update().

◆ _ra_sum_start

uint32_t AP_AHRS_DCM::_ra_sum_start

private

Definition at line 157 of file AP_AHRS_DCM.h.

Referenced by drift_correction().

◆ _renorm_val_count

uint16_t AP_AHRS_DCM::_renorm_val_count

private

Definition at line 146 of file AP_AHRS_DCM.h.

Referenced by renorm().

◆ _renorm_val_sum

float AP_AHRS_DCM::_renorm_val_sum

private

Definition at line 145 of file AP_AHRS_DCM.h.

Referenced by renorm().

◆ _wind

Vector3f AP_AHRS_DCM::_wind

private

Definition at line 185 of file AP_AHRS_DCM.h.

Referenced by drift_correction(), estimate_wind(), use_compass(), and wind_estimate().

The documentation for this class was generated from the following files:

libraries/AP_AHRS/AP_AHRS_DCM.h
libraries/AP_AHRS/AP_AHRS_DCM.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_AHRS_DCM() [1/2]

◆ AP_AHRS_DCM() [2/2]

Member Function Documentation

◆ _P_gain()

◆ _yaw_gain()

◆ airspeed_estimate()

◆ check_matrix()

◆ drift_correction()

◆ drift_correction_yaw()

◆ estimate_wind()

◆ euler_angles()

◆ get_error_rp()

◆ get_error_yaw()

◆ get_gyro()

◆ get_gyro_drift()

◆ get_position()

◆ get_relative_position_D_home()

◆ get_rotation_body_to_ned()

◆ have_gps()

◆ healthy()

◆ matrix_update()

◆ normalize()

◆ operator=()

◆ ra_delayed()

◆ renorm()

◆ reset()

◆ reset_attitude()

◆ reset_gyro_drift()

◆ set_home()

◆ update()

◆ uptime_ms()

◆ use_compass()

◆ use_fast_gains()

◆ wind_estimate()

◆ yaw_error_compass()

Member Data Documentation

◆ _body_dcm_matrix

◆ _dcm_matrix

◆ _error_rp

◆ _error_yaw

◆ _gps_last_update

◆ _have_gps_lock

◆ _have_position

◆ _imu1_weight

◆ _ki

◆ _ki_yaw

◆ _last_airspeed

◆ _last_consistent_heading

◆ _last_declination

◆ _last_failure_ms

◆ _last_fuse

◆ _last_lat

◆ _last_lng

◆ _last_startup_ms

◆ _last_vel

◆ _last_velocity

◆ _last_wind_time

◆ _mag_earth

◆ _omega

◆ _omega_I

◆ _omega_I_sum

◆ _omega_I_sum_time

◆ _omega_P

◆ _omega_yaw_P

◆ _position_offset_east

◆ _position_offset_north

◆ _ra_delay_buffer

◆ _ra_deltat

◆ _ra_sum

◆ _ra_sum_start

◆ _renorm_val_count

◆ _renorm_val_sum

◆ _wind