ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#include "AP_InertialSensor.h"
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_Flymaple(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
// accumulate samples
void accumulate(void) override;
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
bool _init_sensor(void);
uint8_t _gyro_instance;
uint8_t _accel_instance;
uint32_t _last_gyro_timestamp;
uint32_t _last_accel_timestamp;
};
#endif
#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__