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44 lines
1.3 KiB
44 lines
1.3 KiB
/* |
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* APM_AHRS_HIL.cpp |
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* |
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* Hardware in the loop AHRS object |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_AHRS.h> |
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/**************************************************/ |
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void |
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AP_AHRS_HIL::setHil(float _roll, float _pitch, float _yaw, |
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float _rollRate, float _pitchRate, float _yawRate) |
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{ |
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roll = _roll; |
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pitch = _pitch; |
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yaw = _yaw; |
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_omega(_rollRate, _pitchRate, _yawRate); |
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roll_sensor = ToDeg(roll)*100; |
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pitch_sensor = ToDeg(pitch)*100; |
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yaw_sensor = ToDeg(yaw)*100; |
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_dcm_matrix.from_euler(roll, pitch, yaw); |
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} |
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// reset the current attitude, used by HIL |
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void reset_attitude(const float &_roll, const float &_pitch, const float &_yaw) |
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{ |
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// not implemented - use setHil() |
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}
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