mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.6 KiB
C
60 lines
1.6 KiB
C
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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base class for CAN simulated devices
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*/
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#pragma once
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#include <stdint.h>
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Math/vectorN.h>
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#if AP_TEST_DRONECAN_DRIVERS
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namespace SITL {
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class DroneCANDevice {
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public:
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void update(void);
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private:
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// barometer delay buffer variables
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struct readings_baro {
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uint32_t time;
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float data;
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};
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uint8_t _store_index;
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uint32_t _last_store_time;
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static const uint8_t _buffer_length = 50;
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VectorN<readings_baro, _buffer_length> _buffer;
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float _last_altitude;
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void update_baro(void);
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void update_airspeed(void);
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void update_compass(void);
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void update_rangefinder(void);
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void _setup_eliptical_correcion(uint8_t i);
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uint64_t _baro_last_update_us;
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uint64_t _airspeed_last_update_us;
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uint64_t _compass_last_update_us;
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uint64_t _rangefinder_last_update_us;
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Matrix3f _eliptical_corr;
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Vector3f _last_dia;
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Vector3f _last_odi;
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};
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}
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#endif // AP_TEST_DRONECAN_DRIVERS
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