ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_PX4_H__
#define __AP_INERTIAL_SENSOR_PX4_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
class AP_InertialSensor_PX4 : public AP_InertialSensor
{
public:
AP_InertialSensor_PX4() {}
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
bool new_data_available();
float temperature();
float get_delta_time();
uint32_t get_last_sample_time_micros();
float get_gyro_drift_rate();
uint16_t num_samples_available();
private:
uint16_t _init_sensor( Sample_rate sample_rate );
static void _ins_timer(uint32_t now);
static void _accumulate(void);
uint64_t _last_update_usec;
float _delta_time;
static Vector3f _accel_sum;
static uint32_t _accel_sum_count;
static Vector3f _gyro_sum;
static uint32_t _gyro_sum_count;
static volatile bool _in_accumulate;
static uint64_t _last_accel_timestamp;
static uint64_t _last_gyro_timestamp;
uint8_t _sample_divider;
// accelerometer and gyro driver handles
static int _accel_fd;
static int _gyro_fd;
};
#endif
#endif // __AP_INERTIAL_SENSOR_PX4_H__