Gyroscope_sim Class Reference

Simulated gyroscopes. More...

#include <gyroscope_sim.hpp>

Inheritance diagram for Gyroscope_sim:

Collaboration diagram for Gyroscope_sim:

List of all members.

Public Member Functions
	Gyroscope_sim (Dynamic_model &dynamic_model)
	Constructor.
bool	init (void)
	Initialise the sensor.
bool	update (void)
	Main update function Reads new values from sensor.
const float &	last_update_us (void) const
	Get last update time in microseconds.
const std::array< float, 3 > &	gyro (void) const
	Get X, Y and Z components of angular velocity.
const float &	gyro_X (void) const
	Get X component of angular velocity.
const float &	gyro_Y (void) const
	Get Y component of angular velocity.
const float &	gyro_Z (void) const
	Get Z component of angular velocity.
const float &	temperature (void) const
	Get sensor temperature.

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Detailed Description

Simulated gyroscopes.

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Constructor & Destructor Documentation

Gyroscope_sim::Gyroscope_sim

(

Dynamic_model &

dynamic_model

)

Constructor.

Parameters:

dynamic_model

Reference to dynamic model

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Member Function Documentation

const std::array< float, 3 > & Gyroscope_sim::gyro

(

void

)

const [virtual]

Get X, Y and Z components of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Gyroscope_sim::gyro_X

(

void

)

const [virtual]

Get X component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Gyroscope_sim::gyro_Y

(

void

)

const [virtual]

Get Y component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

const float & Gyroscope_sim::gyro_Z

(

void

)

const [virtual]

Get Z component of angular velocity.

This is raw data, so X, Y and Z components are biased, not scaled, and given in the sensor frame (not in the UAV frame). Use an Imu object to handle bias removal, scaling and axis rotations

Returns:

Value

Implements Gyroscope.

bool Gyroscope_sim::init

(

void

)

[virtual]

Initialise the sensor.

Returns:

Success

Implements Gyroscope.

const float & Gyroscope_sim::last_update_us

(

void

)

const [virtual]

Get last update time in microseconds.

Returns:

Update time

Implements Gyroscope.

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const float & Gyroscope_sim::temperature

(

void

)

const [virtual]

Get sensor temperature.

Returns:

Value

Implements Gyroscope.

bool Gyroscope_sim::update

(

void

)

[virtual]

Main update function Reads new values from sensor.

Returns:

Success

Implements Gyroscope.

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The documentation for this class was generated from the following files:

• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/gyroscope_sim.hpp
• /home/travis/build/lis-epfl/MAVRIC_Library/simulation/gyroscope_sim.cpp