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 -*-
#pragma once
#include <AP_HAL/AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
#include "AP_InertialSensor.h"
#include "AP_InertialSensor_Backend.h"
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
#include <Filter/Filter.h>
#include <Filter/LowPassFilter2p.h>
class AP_InertialSensor_PX4 : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_PX4(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
// accumulate more samples
void accumulate(void) override { _get_sample(); }
private:
bool _init_sensor(void);
void _get_sample(void);
uint64_t _last_accel_timestamp[INS_MAX_INSTANCES];
uint64_t _last_gyro_timestamp[INS_MAX_INSTANCES];
float _accel_sample_time[INS_MAX_INSTANCES];
float _gyro_sample_time[INS_MAX_INSTANCES];
void _new_accel_sample(uint8_t i, accel_report &accel_report);
void _new_gyro_sample(uint8_t i, gyro_report &gyro_report);
bool _get_gyro_sample(uint8_t i, struct gyro_report &gyro_report);
bool _get_accel_sample(uint8_t i, struct accel_report &accel_report);
// calculate right queue depth for a sensor
uint8_t _queue_depth(uint16_t sensor_sample_rate) const;
// accelerometer and gyro driver handles
uint8_t _num_accel_instances;
uint8_t _num_gyro_instances;
int _accel_fd[INS_MAX_INSTANCES];
int _gyro_fd[INS_MAX_INSTANCES];
// indexes in frontend object. Note that these could be different
// from the backend indexes
uint8_t _accel_instance[INS_MAX_INSTANCES];
uint8_t _gyro_instance[INS_MAX_INSTANCES];
#ifdef AP_INERTIALSENSOR_PX4_DEBUG
uint32_t _gyro_meas_count[INS_MAX_INSTANCES];
uint32_t _accel_meas_count[INS_MAX_INSTANCES];
uint32_t _gyro_meas_count_start_us[INS_MAX_INSTANCES];
uint32_t _accel_meas_count_start_us[INS_MAX_INSTANCES];
float _gyro_dt_max[INS_MAX_INSTANCES];
float _accel_dt_max[INS_MAX_INSTANCES];
#endif // AP_INERTIALSENSOR_PX4_DEBUG
};
#endif