ardupiolt AP_AHRS库类的分析（三）AP_AHRS_View

#pragma once


/*
 *  AHRS View class - for creating a 2nd view of the vehicle attitude
 *
 */

#include "AP_AHRS.h"

class AP_AHRS_View
{
public:
    // Constructor        构造函数
    AP_AHRS_View(AP_AHRS &ahrs, enum Rotation rotation, float pitch_trim_deg=0);

    // update state        更新状态
    void update(bool skip_ins_update=false);

    // empty virtual destructor    空的虚析构函数
    virtual ~AP_AHRS_View() {}

    // return a smoothed and corrected gyro vector        返回一个平滑和校正的陀螺仪向量
    const Vector3f &get_gyro(void) const {
        return gyro;
    }

    // return a smoothed and corrected gyro vector using the latest ins data (which may not have been consumed by the EKF yet)
    使用最新的ins数据（可能尚未被EKF使用）返回经过平滑和校正的陀螺仪矢量
    Vector3f get_gyro_latest(void) const;

    // return a DCM rotation matrix representing our current
    // attitude in this view
    //返回一个DCM旋转矩阵
    //表示此视图中当前的姿态
    const Matrix3f &get_rotati