ardupilot/libraries/AP_Airspeed/AP_Airspeed.h

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-

#ifndef __AP_AIRSPEED_H__
#define __AP_AIRSPEED_H__

#include <AP_Common.h>
#include <AP_Param.h>
#include <AP_AnalogSource.h>
#include <Filter.h>
#include <AverageFilter.h>

class AP_Airspeed
{
public:
	// constructor
	AP_Airspeed(AP_AnalogSource *source) {
		_source = source;
	}

	// read the analog source and update _airspeed
	void read(void);

	// calibrate the airspeed. This must be called on startup if the
	// altitude/climb_rate/acceleration interfaces are ever used
	// the callback is a delay() like routine
	void calibrate(void (*callback)(unsigned long t));

	// return the current airspeed in m/s
	float get_airspeed(void) { return _airspeed; }

	// return the current airspeed in cm/s
	float get_airspeed_cm(void) { return _airspeed*100; }

    // return true if airspeed is enabled, and airspeed use is set
    bool use(void) { return _enable && _use && _offset != 0; }

    // return true if airspeed is enabled
    bool enabled(void) { return _enable; }

    // used by HIL to set the airspeed
    void set_HIL(float airspeed) { _airspeed = airspeed; }

	static const struct AP_Param::GroupInfo var_info[];

private:
	AP_AnalogSource *_source;
	AP_Float    _offset;
	AP_Float    _ratio;
	AP_Int8     _use;
	AP_Int8     _enable;
	float	    _airspeed;
	float	    _airspeed_raw;
    AverageFilterFloat_Size5 _filter;
};


#endif // __AP_AIRSPEED_H__