ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) :
_imu(imu),
_product_id(AP_PRODUCT_ID_NONE)
{}
void AP_InertialSensor_Backend::_rotate_and_correct_accel(uint8_t instance, Vector3f &accel)
{
/*
accel calibration is always done in sensor frame with this
version of the code. That means we apply the rotation after the
offsets and scaling.
*/
// apply scaling
const Vector3f &accel_scale = _imu._accel_scale[instance].get();
accel.x *= accel_scale.x;
accel.y *= accel_scale.y;
accel.z *= accel_scale.z;
// apply offsets
accel -= _imu._accel_offset[instance];
// rotate to body frame
accel.rotate(_imu._board_orientation);
}
void AP_InertialSensor_Backend::_rotate_and_correct_gyro(uint8_t instance, Vector3f &gyro)
{
// gyro calibration is always assumed to have been done in sensor frame
gyro -= _imu._gyro_offset[instance];
gyro.rotate(_imu._board_orientation);
}
void AP_InertialSensor_Backend::_publish_delta_angle(uint8_t instance, const Vector3f &delta_angle)
{
// publish delta angle
_imu._delta_angle[instance] = delta_angle;
_imu._delta_angle_valid[instance] = true;
}
/*
rotate gyro vector and add the gyro offset
*/
void AP_InertialSensor_Backend::_publish_gyro(uint8_t instance, const Vector3f &gyro, bool rotate_and_correct)
{
_imu._gyro[instance] = gyro;
_imu._gyro_healthy[instance] = true;
if (rotate_and_correct) {
_rotate_and_correct_gyro(instance, _imu._gyro[instance]);
}
}
void AP_InertialSensor_Backend::_publish_delta_velocity(uint8_t instance, const Vector3f &delta_velocity, float dt)
{
// publish delta velocity
_imu._delta_velocity[instance] = delta_velocity;
_imu._delta_velocity_dt[instance] = dt;
_imu._delta_velocity_valid[instance] = true;
}
/*
rotate accel vector, scale and add the accel offset
*/
void AP_InertialSensor_Backend::_publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct)
{
_imu._accel[instance] = accel;
_imu._accel_healthy[instance] = true;
if (rotate_and_correct) {
_rotate_and_correct_accel(instance, _imu._accel[instance]);
}
}
void AP_InertialSensor_Backend::_set_accel_max_abs_offset(uint8_t instance,
float max_offset)
{
_imu._accel_max_abs_offsets[instance] = max_offset;
}
// set accelerometer error_count
void AP_InertialSensor_Backend::_set_accel_error_count(uint8_t instance, uint32_t error_count)
{
_imu._accel_error_count[instance] = error_count;
}
// set gyro error_count
void AP_InertialSensor_Backend::_set_gyro_error_count(uint8_t instance, uint32_t error_count)
{
_imu._gyro_error_count[instance] = error_count;
}
// return the requested sample rate in Hz
uint16_t AP_InertialSensor_Backend::get_sample_rate_hz(void) const
{
// enum can be directly cast to Hz
return (uint16_t)_imu._sample_rate;
}
/*
publish a temperature value for an instance
*/
void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float temperature)
{
_imu._temperature[instance] = temperature;
}