DCM AHRS. More...
#include <dcmahrs.h>
Public Member Functions | |
| DcmAHRS () | |
| virtual void | ParamChanged (Socket *param) |
| A parameter has changed. | |
| virtual void | Init () |
| perform your initialization here | |
| virtual void | Reference () |
| Reference. | |
| virtual void | Loop (const unsigned long &interval) |
| The module's main loop. | |
DCM AHRS.
Direction Cosine Matrix based AHRS
Sockets exposed:
AHRS.Pitch
AHRS.Roll
AHRS.Yaw
DCMAHRS.RollPitch.P
DCMAHRS.RollPitch.I
external sockets expected:
Accel.X
Accel.Y
Accel.Z
Gyro.Pitch
Gyro.Roll
Gyro.Yaw
Compass.Heading
| DcmAHRS::DcmAHRS | ( | ) | [inline] |
| virtual void DcmAHRS::Init | ( | ) | [inline, virtual] |
perform your initialization here
This includes connecting plugs and general initialization
Reimplemented from Module.
| virtual void DcmAHRS::Loop | ( | const unsigned long & | interval | ) | [inline, virtual] |
The module's main loop.
This function is called at the rate specified by SetInterval()
Do most of your work here. Try to keep this code fast
Reimplemented from Module.
| virtual void DcmAHRS::ParamChanged | ( | Socket * | param | ) | [inline, virtual] |
A parameter has changed.
Called when a parameter has been changed (read from EEPROM or via the comms link)
param points to the parameter that has changed.
Reimplemented from Module.
| virtual void DcmAHRS::Reference | ( | ) | [inline, virtual] |
Reference.
Called when we are stationary and it is safe to re-reference sensors and clear PID accumulators etc. If at all possible, return fairly quickly from this, just in case we are in the air and reference has been called by mistake (e.g it may have been connected to a transmitter switch that was operated at the wrong moment.
Reimplemented from Module.
1.7.0
