mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.7 KiB
C
62 lines
1.7 KiB
C
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#ifndef __AP_INERTIAL_SENSOR_H__
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#define __AP_INERTIAL_SENSOR_H__
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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/* AP_InertialSensor is an abstraction for gyro and accel measurements
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* which are correctly aligned to the body axes and scaled to SI units.
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*/
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class AP_InertialSensor
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{
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public:
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AP_InertialSensor() {}
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virtual void init( AP_PeriodicProcess * scheduler );
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/* Update the sensor data, so that getters are nonblocking.
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* Returns a bool of whether data was updated or not.
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*/
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virtual bool update() = 0;
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/* Getters for individual gyro axes.
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* Gyros have correct coordinate frame and units (degrees per second).
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*/
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virtual float gx() = 0;
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virtual float gy() = 0;
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virtual float gz() = 0;
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/* Same data as above gyro getters, written to array as { gx, gy, gz } */
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virtual void get_gyros( float * ) = 0;
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/* Getters for individual accel axes.
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* Accels have correct coordinate frame ( flat level ax, ay = 0; az = -9.81)
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* and units (meters per second squared).
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*/
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virtual float ax() = 0;
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virtual float ay() = 0;
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virtual float az() = 0;
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/* Same data as above accel getters, written to array as { ax, ay, az } */
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virtual void get_accels( float * ) = 0;
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/* Same data as above accel and gyro getters, written to array as
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* { gx, gy, gz, ax, ay, az }
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*/
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virtual void get_sensors( float * ) = 0;
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/* Temperature, in degrees celsius, of the gyro. */
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virtual float temperature() = 0;
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/* sample_time returns the delta in microseconds since the
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* last call to reset_sample_time.
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*/
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virtual uint32_t sample_time() = 0;
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virtual void reset_sample_time() = 0;
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};
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#include "AP_InertialSensor_Oilpan.h"
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#include "AP_InertialSensor_MPU6000.h"
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#endif // __AP_INERTIAL_SENSOR_H__
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