CompassLearn Class Reference

#include <Compass_learn.h>

Collaboration diagram for CompassLearn:

Classes
struct	sample

Public Member Functions
	CompassLearn (AP_AHRS &ahrs, Compass &compass)
void	update (void)

Private Member Functions
void	io_timer (void)
void	process_sample (const struct sample &s)

Private Attributes
const AP_AHRS &	ahrs
Compass &	compass
bool	have_earth_field
Vector3f	predicted_offsets [num_sectors]
float	errors [num_sectors]
uint32_t	num_samples
Vector3f	mag_ef
AP_HAL::Semaphore *	sem
Matrix3f	mat
struct sample	new_sample
bool	sample_available
Vector3f	last_field
Vector3f	best_offsets
float	best_error
float	best_yaw_deg
float	worst_error
bool	converged

Static Private Attributes
static const uint16_t	num_sectors = 72
static const uint32_t	min_field_change = 60

Detailed Description

Definition at line 9 of file Compass_learn.h.

Constructor & Destructor Documentation

CompassLearn()

CompassLearn::CompassLearn	(	AP_AHRS &	ahrs,
		Compass &	compass
	)

Definition at line 15 of file Compass_learn.cpp.

Member Function Documentation

io_timer()

void CompassLearn::io_timer ( void  )

private

Definition at line 130 of file Compass_learn.cpp.

Referenced by update().

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process_sample()

void CompassLearn::process_sample ( const struct sample &  s )

private

Definition at line 149 of file Compass_learn.cpp.

Referenced by io_timer().

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update()

void CompassLearn::update

(

void

)

Definition at line 24 of file Compass_learn.cpp.

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Member Data Documentation

ahrs

const AP_AHRS& CompassLearn::ahrs

private

Definition at line 18 of file Compass_learn.h.

Referenced by update().

best_error

float CompassLearn::best_error

private

Definition at line 52 of file Compass_learn.h.

Referenced by process_sample(), and update().

best_offsets

Vector3f CompassLearn::best_offsets

private

Definition at line 51 of file Compass_learn.h.

Referenced by process_sample(), and update().

best_yaw_deg

float CompassLearn::best_yaw_deg

private

Definition at line 53 of file Compass_learn.h.

Referenced by process_sample(), and update().

compass

Compass& CompassLearn::compass

private

Definition at line 19 of file Compass_learn.h.

Referenced by update().

converged

bool CompassLearn::converged

private

Definition at line 55 of file Compass_learn.h.

Referenced by update().

errors

float CompassLearn::errors[num_sectors]

private

Definition at line 26 of file Compass_learn.h.

Referenced by process_sample(), and update().

have_earth_field

bool CompassLearn::have_earth_field

private

Definition at line 20 of file Compass_learn.h.

Referenced by update().

last_field

Vector3f CompassLearn::last_field

private

Definition at line 48 of file Compass_learn.h.

Referenced by update().

mag_ef

Vector3f CompassLearn::mag_ef

private

Definition at line 30 of file Compass_learn.h.

Referenced by process_sample(), and update().

mat

Matrix3f CompassLearn::mat

private

Definition at line 44 of file Compass_learn.h.

Referenced by process_sample(), and update().

min_field_change

const uint32_t CompassLearn::min_field_change = 60

staticprivate

Definition at line 49 of file Compass_learn.h.

Referenced by update().

new_sample

struct sample CompassLearn::new_sample

private

Definition at line 46 of file Compass_learn.h.

Referenced by io_timer(), and update().

num_samples

uint32_t CompassLearn::num_samples

private

Definition at line 27 of file Compass_learn.h.

Referenced by process_sample(), and update().

num_sectors

const uint16_t CompassLearn::num_sectors = 72

staticprivate

Definition at line 23 of file Compass_learn.h.

Referenced by process_sample(), and update().

predicted_offsets

Vector3f CompassLearn::predicted_offsets[num_sectors]

private

Definition at line 25 of file Compass_learn.h.

Referenced by process_sample().

sample_available

bool CompassLearn::sample_available

private

Definition at line 47 of file Compass_learn.h.

Referenced by io_timer(), and update().

sem

AP_HAL::Semaphore* CompassLearn::sem

private

Definition at line 33 of file Compass_learn.h.

Referenced by io_timer(), process_sample(), and update().

worst_error

float CompassLearn::worst_error

private

Definition at line 54 of file Compass_learn.h.

Referenced by process_sample(), and update().

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

• libraries/AP_Compass/Compass_learn.h
• libraries/AP_Compass/Compass_learn.cpp