ardupiolt AP_AHRS库类的分析（一）AP_AHRS

#pragma once

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

#include <AP_Math/AP_Math.h>
#include <inttypes.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Airspeed/AP_Airspeed.h>
#include <AP_Beacon/AP_Beacon.h>
#include <AP_GPS/AP_GPS.h>
#include <AP_InertialSensor/AP_InertialSensor.h>
#include <AP_Baro/AP_Baro.h>
#include <AP_Param/AP_Param.h>
#include <AP_Common/Semaphore.h>

class OpticalFlow;
#define AP_AHRS_TRIM_LIMIT 10.0f        // 最大的纵倾角（trim angle）以度为单位
#define AP_AHRS_RP_P_MIN   0.05f        //  AHRS_RP_P 参数的最小值
#define AP_AHRS_YAW_P_MIN  0.05f        //  AHRS_YAW_P 参数的最小值

enum AHRS_VehicleClass : uint8_t {     //飞行器种类的选择
    AHRS_VEHICLE_UNKNOWN,
    AHRS_VEHICLE_GROUND,
    AHRS_VEHICLE_COPTER,
    AHRS_VEHICLE_FIXED_WING,
    AHRS_VEHICLE_SUBMARINE,
};


// forward declare view class          //先前声明 view 类
class AP_AHRS_View;

class AP_AHRS
{