AP_AHRS_View Class Reference

#include <AP_AHRS_View.h>

Collaboration diagram for AP_AHRS_View:

Public Member Functions
	AP_AHRS_View (AP_AHRS &ahrs, enum Rotation rotation)
void	update (bool skip_ins_update=false)
virtual	~AP_AHRS_View ()
const Vector3f &	get_gyro (void) const
Vector3f	get_gyro_latest (void) const
const Matrix3f &	get_rotation_body_to_ned (void) const
float	cos_roll () const
float	cos_pitch () const
float	cos_yaw () const
float	sin_roll () const
float	sin_pitch () const
float	sin_yaw () const
bool	get_position (struct Location &loc) const
Vector3f	wind_estimate (void)
bool	airspeed_estimate (float *airspeed_ret) const
bool	airspeed_estimate_true (float *airspeed_ret) const
float	get_EAS2TAS (void) const
Vector2f	groundspeed_vector (void)
bool	get_velocity_NED (Vector3f &vec) const
bool	get_expected_mag_field_NED (Vector3f &ret) const
bool	get_relative_position_NED_home (Vector3f &vec) const
bool	get_relative_position_NED_origin (Vector3f &vec) const
bool	get_relative_position_NE_home (Vector2f &vecNE) const
bool	get_relative_position_NE_origin (Vector2f &vecNE) const
void	get_relative_position_D_home (float &posD) const
bool	get_relative_position_D_origin (float &posD) const
float	groundspeed (void)
const Vector3f &	get_accel_ef_blended (void) const
uint32_t	getLastPosNorthEastReset (Vector2f &pos) const
uint32_t	getLastPosDownReset (float &posDelta) const
Vector2f	rotate_earth_to_body2D (const Vector2f &ef_vector) const
Vector2f	rotate_body_to_earth2D (const Vector2f &bf) const
float	get_error_rp (void) const
float	get_error_yaw (void) const

Public Attributes
float	roll
float	pitch
float	yaw
int32_t	roll_sensor
int32_t	pitch_sensor
int32_t	yaw_sensor
float	cos_roll
float	cos_pitch
float	cos_yaw
float	sin_roll
float	sin_pitch
float	sin_yaw

Private Attributes
enum Rotation	rotation
AP_AHRS &	ahrs
Matrix3f	rot_view
Matrix3f	rot_body_to_ned
Vector3f	gyro
struct {
float   cos_roll
float   cos_pitch
float   cos_yaw
float   sin_roll
float   sin_pitch
float   sin_yaw
}	trig

Detailed Description

Definition at line 25 of file AP_AHRS_View.h.

Constructor & Destructor Documentation

AP_AHRS_View()

AP_AHRS_View::AP_AHRS_View	(	AP_AHRS &	ahrs,
		enum Rotation	rotation
	)

Definition at line 24 of file AP_AHRS_View.cpp.

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~AP_AHRS_View()

virtual AP_AHRS_View::~AP_AHRS_View ( )

inlinevirtual

Definition at line 35 of file AP_AHRS_View.h.

Member Function Documentation

airspeed_estimate()

bool AP_AHRS_View::airspeed_estimate ( float *  airspeed_ret ) const

inline

Definition at line 84 of file AP_AHRS_View.h.

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airspeed_estimate_true()

bool AP_AHRS_View::airspeed_estimate_true ( float *  airspeed_ret ) const

inline

Definition at line 88 of file AP_AHRS_View.h.

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cos_pitch()

float AP_AHRS_View::cos_pitch ( ) const

inline

Definition at line 55 of file AP_AHRS_View.h.

cos_roll()

float AP_AHRS_View::cos_roll ( ) const

inline

Definition at line 52 of file AP_AHRS_View.h.

cos_yaw()

float AP_AHRS_View::cos_yaw ( ) const

inline

Definition at line 58 of file AP_AHRS_View.h.

get_accel_ef_blended()

const Vector3f& AP_AHRS_View::get_accel_ef_blended ( void  ) const

inline

Definition at line 136 of file AP_AHRS_View.h.

Referenced by AC_PosControl::relax_alt_hold_controllers(), and AC_PosControl::run_z_controller().

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get_EAS2TAS()

float AP_AHRS_View::get_EAS2TAS ( void  ) const

inline

Definition at line 92 of file AP_AHRS_View.h.

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get_error_rp()

float AP_AHRS_View::get_error_rp ( void  ) const

inline

Definition at line 158 of file AP_AHRS_View.h.

Referenced by DataFlash_Class::Log_Write_AttitudeView().

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get_error_yaw()

float AP_AHRS_View::get_error_yaw ( void  ) const

inline

Definition at line 164 of file AP_AHRS_View.h.

Referenced by DataFlash_Class::Log_Write_AttitudeView().

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get_expected_mag_field_NED()

bool AP_AHRS_View::get_expected_mag_field_NED ( Vector3f &  ret ) const

inline

Definition at line 104 of file AP_AHRS_View.h.

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get_gyro()

const Vector3f& AP_AHRS_View::get_gyro ( void  ) const

inline

Definition at line 38 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), AC_AttitudeControl_Heli::integrate_bf_rate_error_to_angle_errors(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), and AC_AttitudeControl::relax_attitude_controllers().

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get_gyro_latest()

Vector3f AP_AHRS_View::get_gyro_latest

(

void

)

const

Definition at line 75 of file AP_AHRS_View.cpp.

Referenced by get_gyro(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl_Sub::rate_controller_run(), AC_AttitudeControl_Heli::rate_controller_run(), and AC_AttitudeControl_Multi::rate_controller_run().

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get_position()

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

inline

Definition at line 76 of file AP_AHRS_View.h.

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get_relative_position_D_home()

void AP_AHRS_View::get_relative_position_D_home ( float &  posD ) const

inline

Definition at line 124 of file AP_AHRS_View.h.

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get_relative_position_D_origin()

bool AP_AHRS_View::get_relative_position_D_origin ( float &  posD ) const

inline

Definition at line 128 of file AP_AHRS_View.h.

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get_relative_position_NE_home()

bool AP_AHRS_View::get_relative_position_NE_home ( Vector2f &  vecNE ) const

inline

Definition at line 116 of file AP_AHRS_View.h.

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get_relative_position_NE_origin()

bool AP_AHRS_View::get_relative_position_NE_origin ( Vector2f &  vecNE ) const

inline

Definition at line 120 of file AP_AHRS_View.h.

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get_relative_position_NED_home()

bool AP_AHRS_View::get_relative_position_NED_home ( Vector3f &  vec ) const

inline

Definition at line 108 of file AP_AHRS_View.h.

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get_relative_position_NED_origin()

bool AP_AHRS_View::get_relative_position_NED_origin ( Vector3f &  vec ) const

inline

Definition at line 112 of file AP_AHRS_View.h.

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get_rotation_body_to_ned()

const Matrix3f& AP_AHRS_View::get_rotation_body_to_ned ( void  ) const

inline

Definition at line 47 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl::attitude_controller_run_quat(), AC_AttitudeControl::inertial_frame_reset(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_2(), AC_AttitudeControl::input_rate_bf_roll_pitch_yaw_3(), AC_AttitudeControl::relax_attitude_controllers(), and AC_AttitudeControl::set_attitude_target_to_current_attitude().

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get_velocity_NED()

bool AP_AHRS_View::get_velocity_NED ( Vector3f &  vec ) const

inline

Definition at line 100 of file AP_AHRS_View.h.

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getLastPosDownReset()

uint32_t AP_AHRS_View::getLastPosDownReset ( float &  posDelta ) const

inline

Definition at line 144 of file AP_AHRS_View.h.

Referenced by AC_PosControl::check_for_ekf_z_reset(), and AC_PosControl::init_ekf_z_reset().

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getLastPosNorthEastReset()

uint32_t AP_AHRS_View::getLastPosNorthEastReset ( Vector2f &  pos ) const

inline

Definition at line 140 of file AP_AHRS_View.h.

Referenced by AC_PosControl::check_for_ekf_xy_reset(), and AC_PosControl::init_ekf_xy_reset().

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groundspeed()

float AP_AHRS_View::groundspeed ( void  )

inline

Definition at line 132 of file AP_AHRS_View.h.

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groundspeed_vector()

Vector2f AP_AHRS_View::groundspeed_vector ( void  )

inline

Definition at line 96 of file AP_AHRS_View.h.

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rotate_body_to_earth2D()

Vector2f AP_AHRS_View::rotate_body_to_earth2D

(

const Vector2f &

bf

)

const

Definition at line 89 of file AP_AHRS_View.cpp.

Referenced by getLastPosDownReset().

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rotate_earth_to_body2D()

Vector2f AP_AHRS_View::rotate_earth_to_body2D

(

const Vector2f &

ef_vector

)

const

Definition at line 82 of file AP_AHRS_View.cpp.

Referenced by getLastPosDownReset().

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sin_pitch()

float AP_AHRS_View::sin_pitch ( ) const

inline

Definition at line 64 of file AP_AHRS_View.h.

sin_roll()

float AP_AHRS_View::sin_roll ( ) const

inline

Definition at line 61 of file AP_AHRS_View.h.

sin_yaw()

float AP_AHRS_View::sin_yaw ( ) const

inline

Definition at line 67 of file AP_AHRS_View.h.

update()

void AP_AHRS_View::update

(

bool

skip_ins_update = false

)

Definition at line 47 of file AP_AHRS_View.cpp.

Referenced by AP_AHRS_View(), and AP_AHRS_NavEKF::update().

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wind_estimate()

Vector3f AP_AHRS_View::wind_estimate ( void  )

inline

Definition at line 80 of file AP_AHRS_View.h.

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Member Data Documentation

ahrs

AP_AHRS& AP_AHRS_View::ahrs

private

Definition at line 177 of file AP_AHRS_View.h.

Referenced by get_gyro_latest(), and update().

cos_pitch

float AP_AHRS_View::cos_pitch

Definition at line 185 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl_Sub::get_throttle_boosted(), AC_AttitudeControl_Multi::get_throttle_boosted(), and AC_PosControl::lean_angles_to_accel().

cos_roll

float AP_AHRS_View::cos_roll

Definition at line 184 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl_Sub::get_throttle_boosted(), AC_AttitudeControl_Multi::get_throttle_boosted(), and AC_PosControl::lean_angles_to_accel().

cos_yaw

float AP_AHRS_View::cos_yaw

Definition at line 186 of file AP_AHRS_View.h.

Referenced by AC_PosControl::accel_to_lean_angles(), AC_Circle::get_closest_point_on_circle(), AC_Circle::init(), AC_PosControl::lean_angles_to_accel(), and AC_Loiter::set_pilot_desired_acceleration().

gyro

Vector3f AP_AHRS_View::gyro

private

Definition at line 181 of file AP_AHRS_View.h.

Referenced by get_gyro(), and update().

pitch

float AP_AHRS_View::pitch

Definition at line 169 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), AC_AttitudeControl::relax_attitude_controllers(), and update().

pitch_sensor

int32_t AP_AHRS_View::pitch_sensor

Definition at line 172 of file AP_AHRS_View.h.

Referenced by AC_PosControl::init_vel_controller_xyz(), AC_PosControl::init_xy_controller(), DataFlash_Class::Log_Write_AttitudeView(), and update().

roll

float AP_AHRS_View::roll

Definition at line 168 of file AP_AHRS_View.h.

Referenced by AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), AC_AttitudeControl::relax_attitude_controllers(), and update().

roll_sensor

int32_t AP_AHRS_View::roll_sensor

Definition at line 171 of file AP_AHRS_View.h.

Referenced by AC_PosControl::init_vel_controller_xyz(), AC_PosControl::init_xy_controller(), DataFlash_Class::Log_Write_AttitudeView(), and update().

rot_body_to_ned

Matrix3f AP_AHRS_View::rot_body_to_ned

private

Definition at line 180 of file AP_AHRS_View.h.

Referenced by get_rotation_body_to_ned(), and update().

rot_view

Matrix3f AP_AHRS_View::rot_view

private

Definition at line 179 of file AP_AHRS_View.h.

Referenced by AP_AHRS_View(), and update().

rotation

enum Rotation AP_AHRS_View::rotation

private

Definition at line 176 of file AP_AHRS_View.h.

Referenced by AP_AHRS_View(), get_gyro_latest(), and update().

sin_pitch

float AP_AHRS_View::sin_pitch

Definition at line 188 of file AP_AHRS_View.h.

Referenced by AC_PosControl::lean_angles_to_accel().

sin_roll

float AP_AHRS_View::sin_roll

Definition at line 187 of file AP_AHRS_View.h.

Referenced by AC_PosControl::lean_angles_to_accel().

sin_yaw

float AP_AHRS_View::sin_yaw

Definition at line 189 of file AP_AHRS_View.h.

Referenced by AC_PosControl::accel_to_lean_angles(), AC_Circle::get_closest_point_on_circle(), AC_Circle::init(), AC_PosControl::lean_angles_to_accel(), and AC_Loiter::set_pilot_desired_acceleration().

trig

struct { ... } AP_AHRS_View::trig

Referenced by cos_pitch(), cos_roll(), cos_yaw(), rotate_body_to_earth2D(), rotate_earth_to_body2D(), sin_pitch(), sin_roll(), sin_yaw(), and update().

yaw

float AP_AHRS_View::yaw

Definition at line 170 of file AP_AHRS_View.h.

Referenced by AC_Circle::init_start_angle(), AC_AttitudeControl_Heli::passthrough_bf_roll_pitch_rate_yaw(), AC_AttitudeControl::relax_attitude_controllers(), AC_AttitudeControl::set_yaw_target_to_current_heading(), and update().

yaw_sensor

int32_t AP_AHRS_View::yaw_sensor

Definition at line 173 of file AP_AHRS_View.h.

Referenced by DataFlash_Class::Log_Write_AttitudeView(), and update().

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

• libraries/AP_AHRS/AP_AHRS_View.h
• libraries/AP_AHRS/AP_AHRS_View.cpp