mirror of https://github.com/ArduPilot/ardupilot
58 lines
1.7 KiB
C
58 lines
1.7 KiB
C
|
/*
|
||
|
|
This program is free software: you can redistribute it and/or modify
|
||
|
|
it under the terms of the GNU General Public License as published by
|
||
|
|
the Free Software Foundation, either version 3 of the License, or
|
||
|
|
(at your option) any later version.
|
||
|
|
|
||
|
|
This program is distributed in the hope that it will be useful,
|
||
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||
|
|
GNU General Public License for more details.
|
||
|
|
|
||
|
|
You should have received a copy of the GNU General Public License
|
||
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||
|
|
*/
|
||
|
|
#pragma once
|
||
|
|
|
||
|
|
// backend driver for AllSensors DLVR differential airspeed sensor
|
||
|
|
// currently assumes a 5" of water, noise reduced, sensor
|
||
|
|
|
||
|
|
#include <AP_HAL/AP_HAL.h>
|
||
|
|
#include <AP_HAL/utility/OwnPtr.h>
|
||
|
|
#include <AP_HAL/I2CDevice.h>
|
||
|
|
#include <utility>
|
||
|
|
|
||
|
|
#include "AP_Airspeed_Backend.h"
|
||
|
|
#include <AP_HAL/I2CDevice.h>
|
||
|
|
|
||
|
|
class AP_Airspeed_DLVR : public AP_Airspeed_Backend
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
|
||
|
|
AP_Airspeed_DLVR(AP_Airspeed &frontend, uint8_t _instance);
|
||
|
|
~AP_Airspeed_DLVR(void) {}
|
||
|
|
|
||
|
|
// probe and initialise the sensor
|
||
|
|
bool init() override;
|
||
|
|
|
||
|
|
// return the current differential_pressure in Pascal
|
||
|
|
bool get_differential_pressure(float &pressure) override;
|
||
|
|
|
||
|
|
// return the current temperature in degrees C, if available
|
||
|
|
bool get_temperature(float &temperature) override;
|
||
|
|
|
||
|
|
private:
|
||
|
|
void timer();
|
||
|
|
|
||
|
|
float pressure;
|
||
|
|
float temperature;
|
||
|
|
float temperature_sum;
|
||
|
|
float pressure_sum;
|
||
|
|
uint32_t temp_count;
|
||
|
|
uint32_t press_count;
|
||
|
|
|
||
|
|
uint32_t last_sample_time_ms;
|
||
|
|
|
||
|
|
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
|
||
|
|
};
|