ardupiolt AP_AHRS库库的分析（四）AP_AHRS_DCM

#pragma once

/*
 *  DCM based AHRS (Attitude Heading Reference System) interface for
 *  ArduPilot
 *
 */

class AP_AHRS_DCM : public AP_AHRS {
public:
    AP_AHRS_DCM()
        : AP_AHRS()
        , _error_rp(1.0f)
        , _error_yaw(1.0f)
        , _mag_earth(1, 0)
        , _imu1_weight(0.5f)
    {
        _dcm_matrix.identity();

        // these are experimentally derived from the simulator
        // with large drift levels
        //这些是从模拟器上实验得出的/
        //具有较大的漂移水平
        _ki = 0.0087f;
        _ki_yaw = 0.01f;
    }

    /* Do not allow copies */
    AP_AHRS_DCM(const AP_AHRS_DCM &other) = delete;
    AP_AHRS_DCM &operator=(const AP_AHRS_DCM&) = delete;


    // return the smoothed gyro vector corrected for drift
    返回平滑的和校正的陀螺仪漂移
    const Vector3f &get_gyro() const override {
        return _omega;
    }

    // return rotation matrix representing rotaton from body to earth axes
    返回表示从机体到地轴旋转的旋转矩阵