Line data    Source code

       1             : #pragma once
       2             : 
       3             : /*
       4             :    This program is free software: you can redistribute it and/or modify
       5             :    it under the terms of the GNU General Public License as published by
       6             :    the Free Software Foundation, either version 3 of the License, or
       7             :    (at your option) any later version.
       8             : 
       9             :    This program is distributed in the hope that it will be useful,
      10             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
      11             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      12             :    GNU General Public License for more details.
      13             : 
      14             :    You should have received a copy of the GNU General Public License
      15             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      16             :  */
      17             : 
      18             : /*
      19             :  *  External based AHRS (Attitude Heading Reference System) interface for
      20             :  *  ArduPilot
      21             :  *
      22             :  */
      23             : 
      24             : #include "AP_AHRS_config.h"
      25             : 
      26             : #if AP_AHRS_EXTERNAL_ENABLED
      27             : 
      28             : #include "AP_AHRS_Backend.h"
      29             : 
      30             : class AP_AHRS_External : public AP_AHRS_Backend {
      31             : public:
      32             : 
      33             :     using AP_AHRS_Backend::AP_AHRS_Backend;
      34             : 
      35             :     /* Do not allow copies */
      36             :     CLASS_NO_COPY(AP_AHRS_External);
      37             : 
      38           3 :     const char *shortname() const override { return "External"; }
      39             : 
      40             :     // reset the current gyro drift estimate
      41             :     //  should be called if gyro offsets are recalculated
      42           7 :     void reset_gyro_drift() override {}
      43             : 
      44             :     // Methods
      45             :     void            update() override;
      46             :     void            get_results(Estimates &results) override;
      47        2115 :     void            reset() override {}
      48             : 
      49           0 :     bool            use_compass() override {
      50             :         // this is actually never called at the moment; we use dcm's
      51             :         // return value.
      52           0 :         return true;
      53             :     }
      54             : 
      55             :     void estimate_wind(void);
      56             : 
      57             :     // returns false if we fail arming checks, in which case the buffer will be populated with a failure message
      58             :     // requires_position should be true if horizontal position configuration should be checked (not used)
      59             :     bool pre_arm_check(bool requires_position, char *failure_msg, uint8_t failure_msg_len) const override;
      60             : 
      61             :     // relative-origin functions for fallback in AP_InertialNav
      62             :     // set the origin, allowing a common origin established by another
      63             :     // AHRS backend to be shared with the external AHRS
      64             :     bool set_origin(const Location &loc) override;
      65             :     bool get_origin(Location &ret) const override;
      66             : };
      67             : 
      68             : #endif