mirror of https://github.com/ArduPilot/ardupilot
43 lines
924 B
C
43 lines
924 B
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "AP_InertialSensor.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_QURT
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extern "C" {
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#undef DEG_TO_RAD
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#include "mpu9x50.h"
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}
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#include <AP_HAL/utility/RingBuffer.h>
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extern ObjectBuffer<mpu9x50_data> *mpu9250_mag_buffer;
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class AP_InertialSensor_QURT : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_QURT(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update() override;
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void accumulate(void) override;
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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void data_ready(void);
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private:
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bool init_sensor();
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void init_mpu9250();
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uint64_t last_timestamp;
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uint32_t start_time_ms;
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uint8_t gyro_instance;
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uint8_t accel_instance;
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ObjectBuffer<mpu9x50_data> buf{100};
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};
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#endif // CONFIG_HAL_BOARD
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