Diff: Sensors/Sensors.h

Revision:

3:4823d6750629

Parent:

2:969dfa4f2436

Child:

4:9ffbf9101992

--- a/Sensors/Sensors.h	Wed Apr 01 11:19:21 2015 +0000
+++ b/Sensors/Sensors.h	Fri Apr 24 16:50:20 2015 +0000
@@ -6,11 +6,14 @@
 #include "Status.h"
 #include "LidarLitePwm.h"
 #include "Kalman.h"
+#include <math.h>
 
 #ifndef Sensors_H
 #define Sensors_H
 
-#define PI 3.14159265
+//#define PI 3.14159265
+
+using namespace std;
 
 class Sensors                
 {
@@ -20,11 +23,7 @@
     
     struct Position
     {
-        double accelX;
-        double accelY;
-        double accelZ;
-        double latitude;
-        double longitude;
+        Gps::Value gpsPosition;
         double computedX;
         double computedY;  
     };
@@ -41,13 +40,14 @@
     Imu::Rate getRate();
     Imu::Angle getAngle();
     Gps::Value getGpsValues();
-    double getZVelocity();
+    Imu::Velocity getImuVelocity();
     Sensors::Altitude getAltitude();
     Sensors::Position getPosition();
     void enable(bool enable);
     void zeroBarometer();
     void updateImu();
     void zeroAccel();
+    void zeroPos();
     
   private:
     void zeroGyro();
@@ -56,17 +56,21 @@
     void updateVelocity();
     void updatePosition();
     int getLidarAltitude();
+    double toRadian(double deg);
     
     Status& _status;
     Imu::Rate _rate;
     Imu::Angle _angle;
     Position _position;
+    Position _startingPosition;
     Altitude _altitude;
     Gps::Value _gpsValues;
     Imu* _imu;
     Gps* _gps;
     LidarLitePwm* _lidar;
     Kalman* _altitudeKalmanFilter;
+    Kalman* _xPosKalmanFilter;
+    Kalman* _yPosKalmanFilter;
 };
 
 #endif
\ No newline at end of file