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28 lines
695 B
28 lines
695 B
14 years ago
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#ifndef AP_Compass_HIL_H
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#define AP_Compass_HIL_H
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#include <Compass.h>
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#include "AP_Compass_HMC5843.h" // to get #defines since we are modelling this
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#include "WProgram.h"
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class AP_Compass_HIL : public Compass
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{
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private:
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int orientation;
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Matrix3f orientationMatrix;
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float calibration[3];
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int offset[3];
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float declination;
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public:
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AP_Compass_HIL(); // Constructor
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bool init(int initialiseWireLib = 1);
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void read();
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void calculate(float roll, float pitch);
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void setOrientation(const Matrix3f &rotationMatrix);
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void setOffsets(int x, int y, int z);
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void setDeclination(float radians);
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void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
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};
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#endif
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