ardupilot/libraries/AP_Baro/AP_Baro.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef __AP_BARO_H__
#define __AP_BARO_H__

#include <AP_Param.h>
#include <Filter.h>
#include <DerivativeFilter.h>
#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"

class AP_Baro
{
public:
    bool                    healthy;
    AP_Baro() {
    }
    virtual bool            init(AP_PeriodicProcess *scheduler)=0;
    virtual uint8_t         read() = 0;
    virtual float           get_pressure() = 0;
    virtual float           get_temperature() = 0;

    virtual int32_t         get_raw_pressure() = 0;
    virtual int32_t         get_raw_temp() = 0;

    // calibrate the barometer. This must be called on startup if the
    // altitude/climb_rate/acceleration interfaces are ever used
    // the callback is a delay() like routine
    void        calibrate(void (*callback)(unsigned long t));

    // get current altitude in meters relative to altitude at the time
    // of the last calibrate() call
    float        get_altitude(void);

    // return how many pressure samples were used to obtain
    // the last pressure reading
    uint8_t        get_pressure_samples(void) {
        return _pressure_samples;
    }

    // get current climb rate in meters/s. A positive number means
    // going up
    float           get_climb_rate(void);

    // the ground values are only valid after calibration
    float           get_ground_temperature(void) {
        return _ground_temperature.get();
    }
    float           get_ground_pressure(void) {
        return _ground_pressure.get();
    }

    // get last time sample was taken
    uint32_t        get_last_update() { return _last_update; };

    static const struct AP_Param::GroupInfo        var_info[];

protected:
    uint32_t                            _last_update;
    uint8_t                             _pressure_samples;

private:
    AP_Float                            _ground_temperature;
    AP_Float                            _ground_pressure;
    float                               _altitude;
    uint32_t                            _last_altitude_t;
    DerivativeFilterFloat_Size7         _climb_rate_filter;
};

#include "AP_Baro_MS5611.h"
#include "AP_Baro_BMP085.h"
#include "AP_Baro_BMP085_hil.h"

#endif // __AP_BARO_H__