DUNE::Navigation::CompassCalibration Class Reference

Detailed Description

CompassCalibration is responsible to gather data from compass in order to compute hard-iron calibration parameters.

Author

José Braga

Public Member Functions
	CompassCalibration (void)
void	clear (void)
void	updateDCM (const IMC::EulerAngles &msg)
void	updateField (const IMC::MagneticField &msg)
Math::Matrix	getCalibrationParams (void)

Constructor & Destructor Documentation

DUNE::Navigation::CompassCalibration::CompassCalibration ( void  )

inline

Constructor.

References clear().

Member Function Documentation

void DUNE::Navigation::CompassCalibration::clear ( void  )

inline

Clear calibration.

References DUNE::Math::Matrix::resizeAndFill().

Referenced by CompassCalibration(), Maneuver::CompassCalibration::Task::consume(), getCalibrationParams(), Maneuver::CompassCalibration::Task::onUpdateParameters(), and Maneuver::CompassCalibration::Task::yoyoMotion().

Math::Matrix DUNE::Navigation::CompassCalibration::getCalibrationParams ( void  )

inline

Get calibration parameters.

Returns

calibration parameters.

References clear().

Referenced by Maneuver::CompassCalibration::Task::calibrate().

void DUNE::Navigation::CompassCalibration::updateDCM ( const IMC::EulerAngles &  msg )

inline

Update Direct Cosine Matrix.

Parameters

[in]

msg

euler angles message.

References DUNE::IMC::EulerAngles::phi, and DUNE::IMC::EulerAngles::theta.

Referenced by Maneuver::CompassCalibration::Task::consume().

void DUNE::Navigation::CompassCalibration::updateField ( const IMC::MagneticField &  msg )

inline

Get stabilized magnetic field.

Parameters

[in]

msg

magnetic field message.

References DUNE::Math::Matrix::toDCM(), DUNE::IMC::MagneticField::x, DUNE::IMC::MagneticField::y, and DUNE::IMC::MagneticField::z.

Referenced by Maneuver::CompassCalibration::Task::consume().

Collaboration diagram for DUNE::Navigation::CompassCalibration: