ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_qflight.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
#include "AP_InertialSensor_qflight.h"
#include <AP_HAL_Linux/qflight/qflight_util.h>
#include <AP_HAL_Linux/qflight/qflight_dsp.h>
const extern AP_HAL::HAL& hal;
AP_InertialSensor_QFLIGHT::AP_InertialSensor_QFLIGHT(AP_InertialSensor &imu) :
AP_InertialSensor_Backend(imu)
{
}
/*
detect the sensor
*/
AP_InertialSensor_Backend *AP_InertialSensor_QFLIGHT::detect(AP_InertialSensor &_imu)
{
AP_InertialSensor_QFLIGHT *sensor = new AP_InertialSensor_QFLIGHT(_imu);
if (sensor == NULL) {
return NULL;
}
if (!sensor->init_sensor()) {
delete sensor;
return NULL;
}
return sensor;
}
bool AP_InertialSensor_QFLIGHT::init_sensor(void)
{
gyro_instance = _imu.register_gyro(1000);
accel_instance = _imu.register_accel(1000);
hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_QFLIGHT::timer_update, void));
_product_id = AP_PRODUCT_ID_MPU9250;
return true;
}
void AP_InertialSensor_QFLIGHT::timer_update(void)
{
if (imubuf == nullptr) {
imubuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::IMU);
if (imubuf == nullptr) {
AP_HAL::panic("unable to allocate IMU buffer");
}
}
int ret = qflight_get_imu_data((uint8_t *)imubuf, sizeof(*imubuf));
if (ret != 0) {
return;
}
for (uint16_t i=0; i<imubuf->num_samples; i++) {
DSPBuffer::IMU::BUF &b = imubuf->buf[i];
Vector3f accel(b.accel[0], b.accel[1], b.accel[2]);
Vector3f gyro(b.gyro[0], b.gyro[1], b.gyro[2]);
_rotate_and_correct_accel(accel_instance, accel);
_rotate_and_correct_gyro(gyro_instance, gyro);
_notify_new_accel_raw_sample(accel_instance, accel, b.timestamp);
_notify_new_gyro_raw_sample(gyro_instance, gyro, b.timestamp);
}
}
bool AP_InertialSensor_QFLIGHT::update(void)
{
update_accel(accel_instance);
update_gyro(gyro_instance);
return true;
}
#endif // HAL_BOARD_QFLIGHT