学习ardupilot-EKF笔记(一)

1、在init_ardupilot()函数中使用

void Copter::init_compass()
{
    if (!g.compass_enabled) {
        return;
    }

    if (!compass.init() || !compass.read()) {
        // make sure we don't pass a broken compass to DCM
        hal.console->printf("COMPASS INIT ERROR\n");
        Log_Write_Error(ERROR_SUBSYSTEM_COMPASS,ERROR_CODE_FAILED_TO_INITIALISE);
        return;
    }
    ahrs.set_compass(&compass);
}

该函数来初始化compass,因此以后要想获得compass的对象只需要通过ahrs对象调用ahrs.get_comoass()方法即可

2、imu_ring_buffer_t<imu_elements> storedIMU;      // IMU data buffer
    obs_ring_buffer_t<gps_elements> storedGPS;      // GPS data buffer
    obs_ring_buffer_t<mag_elements> storedMag;      // Magnetometer data buffer
    obs_ring_buffer_t<baro_elements> storedBaro;    // Baro data buffer
    obs_ring_buffer_t<tas_elements> storedTAS;      // TAS data buffer
    obs_ring_buffer_t<range_elements> storedRange;  // Range finder data buffer

这些RING_BUFFER[]中存放的是近几个周期的数据