DUNE: Uniform Navigational Environment  2016.09.0
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

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]msgeuler 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]msgmagnetic 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:
Collaboration graph