AP_InertialNav Class Reference

#include <AP_InertialNav.h>

Inheritance diagram for AP_InertialNav:

Public Member Functions
	AP_InertialNav ()
virtual void	update (float dt)=0
virtual nav_filter_status	get_filter_status () const =0
virtual struct Location	get_origin () const =0
virtual const Vector3f &	get_position () const =0
virtual bool	get_location (struct Location &loc) const =0
virtual int32_t	get_latitude () const =0
virtual int32_t	get_longitude () const =0
virtual const Vector3f &	get_velocity () const =0
virtual float	get_velocity_xy () const =0
virtual float	get_altitude () const =0
virtual float	get_velocity_z () const =0

Detailed Description

Definition at line 23 of file AP_InertialNav.h.

Constructor & Destructor Documentation

AP_InertialNav()

AP_InertialNav::AP_InertialNav ( )

inline

Definition at line 28 of file AP_InertialNav.h.

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Member Function Documentation

get_altitude()

virtual float AP_InertialNav::get_altitude ( ) const

pure virtual

get_altitude - get latest altitude estimate in cm above the reference position

Returns

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav(), AC_PosControl::get_alt_error(), AC_PosControl::get_stopping_point_z(), AC_WPNav::get_terrain_offset(), AC_PosControl::relax_alt_hold_controllers(), AC_PosControl::run_z_controller(), AC_PosControl::set_alt_target_to_current_alt(), and AC_PosControl::set_alt_target_with_slew().

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get_filter_status()

virtual nav_filter_status AP_InertialNav::get_filter_status ( ) const

pure virtual

get_filter_status : returns filter status as a series of flags

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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get_latitude()

virtual int32_t AP_InertialNav::get_latitude ( ) const

pure virtual

get_latitude - returns the latitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)

Returns

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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get_location()

virtual bool AP_InertialNav::get_location ( struct Location &  loc ) const

pure virtual

get_llh - updates the provided location with the latest calculated location including absolute altitude returns true on success (i.e. the EKF knows it's latest position), false on failure

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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get_longitude()

virtual int32_t AP_InertialNav::get_longitude ( ) const

pure virtual

get_longitude - returns the longitude of the current position estimation in 100 nano degrees (i.e. degree value multiplied by 10,000,000)

Returns

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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get_origin()

virtual struct Location AP_InertialNav::get_origin ( ) const

pure virtual

get_origin - returns the inertial navigation origin in lat/lon/alt

Returns

origin Location

Implemented in AP_InertialNav_NavEKF.

get_position()

virtual const Vector3f& AP_InertialNav::get_position ( ) const

pure virtual

get_position - returns the current position relative to the home location in cm.

Returns

Implemented in AP_InertialNav_NavEKF.

Referenced by AC_WPNav::advance_spline_target_along_track(), AC_WPNav::advance_wp_target_along_track(), AP_InertialNav(), AC_PosControl::get_bearing_to_target(), AC_Circle::get_closest_point_on_circle(), AC_PosControl::get_stopping_point_xy(), AC_WPNav::get_wp_bearing_to_destination(), AC_WPNav::get_wp_distance_to_destination(), AC_Circle::init_start_angle(), AC_PosControl::init_takeoff(), AC_Loiter::init_target(), AC_PosControl::init_vel_controller_xyz(), AC_PosControl::run_xy_controller(), AC_WPNav::shift_wp_origin_to_current_pos(), AC_Loiter::soften_for_landing(), and AC_PosControl::write_log().

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get_velocity()

virtual const Vector3f& AP_InertialNav::get_velocity ( ) const

pure virtual

get_velocity - returns the current velocity in cm/s

Returns

velocity vector: .x : latitude velocity in cm/s .y : longitude velocity in cm/s .z : vertical velocity in cm/s

Implemented in AP_InertialNav_NavEKF.

Referenced by AC_WPNav::advance_wp_target_along_track(), AP_InertialNav(), AC_PosControl::get_stopping_point_xy(), AC_WPNav::init_brake_target(), AC_Loiter::init_target(), AC_PosControl::init_vel_controller_xyz(), AC_PosControl::run_xy_controller(), AC_PosControl::run_z_controller(), AC_WPNav::set_wp_origin_and_destination(), and AC_PosControl::write_log().

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get_velocity_xy()

virtual float AP_InertialNav::get_velocity_xy ( ) const

pure virtual

get_velocity_xy - returns the current horizontal velocity in cm/s

Returns

the current horizontal velocity in cm/s

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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get_velocity_z()

virtual float AP_InertialNav::get_velocity_z ( ) const

pure virtual

get_velocity_z - returns the current climbrate.

See also

get_velocity().z

Returns

climbrate in cm/s (positive up)

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav(), AC_PosControl::get_stopping_point_z(), and AC_PosControl::relax_alt_hold_controllers().

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update()

virtual void AP_InertialNav::update ( float  dt )

pure virtual

update - updates velocity and position estimates using latest info from accelerometers augmented with gps and baro readings

Parameters

dt	: time since last update in seconds

Implemented in AP_InertialNav_NavEKF.

Referenced by AP_InertialNav().

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

• libraries/AP_InertialNav/AP_InertialNav.h