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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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# ifndef __AP_INERTIAL_SENSOR_H__
# define __AP_INERTIAL_SENSOR_H__
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// Gyro and Accelerometer calibration criteria
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# define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f
# define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f
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# define AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS (15.5f*GRAVITY_MSS) // accelerometer values over 15.5G are recorded as a clipping error
# define AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ 5.0f // accel vibration floor filter hz
# define AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ 2.0f // accel vibration filter hz
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/**
maximum number of INS instances available on this platform . If more
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than 1 then redundant sensors may be available
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*/
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# define INS_MAX_INSTANCES 3
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# define INS_MAX_BACKENDS 6
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# define INS_VIBRATION_CHECK_INSTANCES 2
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# include <stdint.h>
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# include <AP_HAL/AP_HAL.h>
# include <AP_Math/AP_Math.h>
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# include "AP_InertialSensor_UserInteract.h"
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# include <Filter/LowPassFilter.h>
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class AP_InertialSensor_Backend ;
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class AuxiliaryBus ;
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/*
forward declare DataFlash class . We can ' t include DataFlash . h
because of mutual dependencies
*/
class DataFlash_Class ;
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/* AP_InertialSensor is an abstraction for gyro and accel measurements
* which are correctly aligned to the body axes and scaled to SI units .
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*
* Gauss - Newton accel calibration routines borrowed from Rolfe Schmidt
* blog post describing the method : http : //chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
* original sketch available at http : //rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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*/
class AP_InertialSensor
{
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friend class AP_InertialSensor_Backend ;
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public :
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AP_InertialSensor ( ) ;
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static AP_InertialSensor * get_instance ( ) ;
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// the rate that updates will be available to the application
enum Sample_rate {
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RATE_50HZ = 50 ,
RATE_100HZ = 100 ,
RATE_200HZ = 200 ,
RATE_400HZ = 400
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} ;
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enum Gyro_Calibration_Timing {
GYRO_CAL_NEVER = 0 ,
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GYRO_CAL_STARTUP_ONLY = 1
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} ;
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/// Perform startup initialisation.
///
/// Called to initialise the state of the IMU.
///
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/// Gyros will be calibrated unless INS_GYRO_CAL is zero
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///
/// @param style The initialisation startup style.
///
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void init ( Sample_rate sample_rate ) ;
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/// Register a new gyro/accel driver, allocating an instance
/// number
uint8_t register_gyro ( void ) ;
uint8_t register_accel ( void ) ;
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// perform accelerometer calibration including providing user instructions
// and feedback
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bool calibrate_accel ( AP_InertialSensor_UserInteract * interact ,
float & trim_roll ,
float & trim_pitch ) ;
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bool calibrate_trim ( float & trim_roll , float & trim_pitch ) ;
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/// calibrating - returns true if the gyros or accels are currently being calibrated
bool calibrating ( ) const { return _calibrating ; }
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/// Perform cold-start initialisation for just the gyros.
///
/// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work
///
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void init_gyro ( void ) ;
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/// Fetch the current gyro values
///
/// @returns vector of rotational rates in radians/sec
///
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const Vector3f & get_gyro ( uint8_t i ) const { return _gyro [ i ] ; }
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const Vector3f & get_gyro ( void ) const { return get_gyro ( _primary_gyro ) ; }
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// set gyro offsets in radians/sec
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const Vector3f & get_gyro_offsets ( uint8_t i ) const { return _gyro_offset [ i ] ; }
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const Vector3f & get_gyro_offsets ( void ) const { return get_gyro_offsets ( _primary_gyro ) ; }
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//get delta angle if available
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bool get_delta_angle ( uint8_t i , Vector3f & delta_angle ) const ;
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bool get_delta_angle ( Vector3f & delta_angle ) const { return get_delta_angle ( _primary_gyro , delta_angle ) ; }
//get delta velocity if available
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bool get_delta_velocity ( uint8_t i , Vector3f & delta_velocity ) const ;
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bool get_delta_velocity ( Vector3f & delta_velocity ) const { return get_delta_velocity ( _primary_accel , delta_velocity ) ; }
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float get_delta_velocity_dt ( uint8_t i ) const ;
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float get_delta_velocity_dt ( ) const { return get_delta_velocity_dt ( _primary_accel ) ; }
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/// Fetch the current accelerometer values
///
/// @returns vector of current accelerations in m/s/s
///
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const Vector3f & get_accel ( uint8_t i ) const { return _accel [ i ] ; }
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const Vector3f & get_accel ( void ) const { return get_accel ( _primary_accel ) ; }
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uint32_t get_gyro_error_count ( uint8_t i ) const { return _gyro_error_count [ i ] ; }
uint32_t get_accel_error_count ( uint8_t i ) const { return _accel_error_count [ i ] ; }
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// multi-device interface
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bool get_gyro_health ( uint8_t instance ) const { return ( instance < _gyro_count ) ? _gyro_healthy [ instance ] : false ; }
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bool get_gyro_health ( void ) const { return get_gyro_health ( _primary_gyro ) ; }
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bool get_gyro_health_all ( void ) const ;
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uint8_t get_gyro_count ( void ) const { return _gyro_count ; }
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bool gyro_calibrated_ok ( uint8_t instance ) const { return _gyro_cal_ok [ instance ] ; }
bool gyro_calibrated_ok_all ( ) const ;
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bool use_gyro ( uint8_t instance ) const ;
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Gyro_Calibration_Timing gyro_calibration_timing ( ) { return ( Gyro_Calibration_Timing ) _gyro_cal_timing . get ( ) ; }
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bool get_accel_health ( uint8_t instance ) const { return ( instance < _accel_count ) ? _accel_healthy [ instance ] : false ; }
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bool get_accel_health ( void ) const { return get_accel_health ( _primary_accel ) ; }
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bool get_accel_health_all ( void ) const ;
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uint8_t get_accel_count ( void ) const { return _accel_count ; } ;
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bool accel_calibrated_ok_all ( ) const ;
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bool use_accel ( uint8_t instance ) const ;
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// get accel offsets in m/s/s
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const Vector3f & get_accel_offsets ( uint8_t i ) const { return _accel_offset [ i ] ; }
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const Vector3f & get_accel_offsets ( void ) const { return get_accel_offsets ( _primary_accel ) ; }
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// get accel scale
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const Vector3f & get_accel_scale ( uint8_t i ) const { return _accel_scale [ i ] ; }
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const Vector3f & get_accel_scale ( void ) const { return get_accel_scale ( _primary_accel ) ; }
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// return the temperature if supported. Zero is returned if no
// temperature is available
float get_temperature ( uint8_t instance ) const { return _temperature [ instance ] ; }
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/* get_delta_time returns the time period in seconds
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* overwhich the sensor data was collected
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*/
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float get_delta_time ( ) const { return _delta_time ; }
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// return the maximum gyro drift rate in radians/s/s. This
// depends on what gyro chips are being used
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float get_gyro_drift_rate ( void ) const { return ToRad ( 0.5f / 60 ) ; }
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// update gyro and accel values from accumulated samples
void update ( void ) ;
// wait for a sample to be available
void wait_for_sample ( void ) ;
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// class level parameters
static const struct AP_Param : : GroupInfo var_info [ ] ;
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// set overall board orientation
void set_board_orientation ( enum Rotation orientation ) {
_board_orientation = orientation ;
}
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// return the selected sample rate
Sample_rate get_sample_rate ( void ) const { return _sample_rate ; }
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uint16_t error_count ( void ) const { return 0 ; }
bool healthy ( void ) const { return get_gyro_health ( ) & & get_accel_health ( ) ; }
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uint8_t get_primary_accel ( void ) const { return _primary_accel ; }
uint8_t get_primary_gyro ( void ) const { return _primary_gyro ; }
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// enable HIL mode
void set_hil_mode ( void ) { _hil_mode = true ; }
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// get the gyro filter rate in Hz
uint8_t get_gyro_filter_hz ( void ) const { return _gyro_filter_cutoff ; }
// get the accel filter rate in Hz
uint8_t get_accel_filter_hz ( void ) const { return _accel_filter_cutoff ; }
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// pass in a pointer to DataFlash for raw data logging
void set_dataflash ( DataFlash_Class * dataflash ) { _dataflash = dataflash ; }
// enable/disable raw gyro/accel logging
void set_raw_logging ( bool enable ) { _log_raw_data = enable ; }
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// calculate vibration levels and check for accelerometer clipping (called by a backends)
void calc_vibration_and_clipping ( uint8_t instance , const Vector3f & accel , float dt ) ;
// retrieve latest calculated vibration levels
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Vector3f get_vibration_levels ( ) const { return get_vibration_levels ( _primary_accel ) ; }
Vector3f get_vibration_levels ( uint8_t instance ) const ;
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// retrieve and clear accelerometer clipping count
uint32_t get_accel_clip_count ( uint8_t instance ) const ;
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// check for vibration movement. True when all axis show nearly zero movement
bool is_still ( ) ;
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/*
HIL set functions . The minimum for HIL is set_accel ( ) and
set_gyro ( ) . The others are option for higher fidelity log
playback
*/
void set_accel ( uint8_t instance , const Vector3f & accel ) ;
void set_gyro ( uint8_t instance , const Vector3f & gyro ) ;
void set_delta_time ( float delta_time ) ;
void set_delta_velocity ( uint8_t instance , float deltavt , const Vector3f & deltav ) ;
void set_delta_angle ( uint8_t instance , const Vector3f & deltaa ) ;
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AuxiliaryBus * get_auxiliary_bus ( int16_t backend_id ) ;
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private :
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// load backend drivers
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void _add_backend ( AP_InertialSensor_Backend * backend ) ;
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void _detect_backends ( void ) ;
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void _start_backends ( ) ;
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AP_InertialSensor_Backend * _find_backend ( int16_t backend_id ) ;
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// gyro initialisation
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void _init_gyro ( ) ;
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// Calibration routines borrowed from Rolfe Schmidt
// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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// _calibrate_accel - perform low level accel calibration
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bool _calibrate_accel ( const Vector3f accel_sample [ 6 ] ,
Vector3f & accel_offsets ,
Vector3f & accel_scale ,
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float max_abs_offsets ,
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enum Rotation rotation ) ;
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bool _check_sample_range ( const Vector3f accel_sample [ 6 ] , enum Rotation rotation ,
AP_InertialSensor_UserInteract * interact ) ;
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void _calibrate_update_matrices ( float dS [ 6 ] , float JS [ 6 ] [ 6 ] , float beta [ 6 ] , float data [ 3 ] ) ;
void _calibrate_reset_matrices ( float dS [ 6 ] , float JS [ 6 ] [ 6 ] ) ;
void _calibrate_find_delta ( float dS [ 6 ] , float JS [ 6 ] [ 6 ] , float delta [ 6 ] ) ;
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bool _calculate_trim ( const Vector3f & accel_sample , float & trim_roll , float & trim_pitch ) ;
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// save parameters to eeprom
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void _save_parameters ( ) ;
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// backend objects
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AP_InertialSensor_Backend * _backends [ INS_MAX_BACKENDS ] ;
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// number of gyros and accel drivers. Note that most backends
// provide both accel and gyro data, so will increment both
// counters on initialisation
uint8_t _gyro_count ;
uint8_t _accel_count ;
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uint8_t _backend_count ;
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// the selected sample rate
Sample_rate _sample_rate ;
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// Most recent accelerometer reading
Vector3f _accel [ INS_MAX_INSTANCES ] ;
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Vector3f _delta_velocity [ INS_MAX_INSTANCES ] ;
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float _delta_velocity_dt [ INS_MAX_INSTANCES ] ;
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bool _delta_velocity_valid [ INS_MAX_INSTANCES ] ;
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// delta velocity accumulator
Vector3f _delta_velocity_acc [ INS_MAX_INSTANCES ] ;
// time accumulator for delta velocity accumulator
float _delta_velocity_acc_dt [ INS_MAX_INSTANCES ] ;
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// Most recent gyro reading
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Vector3f _gyro [ INS_MAX_INSTANCES ] ;
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Vector3f _delta_angle [ INS_MAX_INSTANCES ] ;
bool _delta_angle_valid [ INS_MAX_INSTANCES ] ;
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Vector3f _delta_angle_acc [ INS_MAX_INSTANCES ] ;
Vector3f _last_delta_angle [ INS_MAX_INSTANCES ] ;
Vector3f _last_raw_gyro [ INS_MAX_INSTANCES ] ;
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// product id
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AP_Int16 _product_id ;
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// accelerometer scaling and offsets
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AP_Vector3f _accel_scale [ INS_MAX_INSTANCES ] ;
AP_Vector3f _accel_offset [ INS_MAX_INSTANCES ] ;
AP_Vector3f _gyro_offset [ INS_MAX_INSTANCES ] ;
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// accelerometer max absolute offsets to be used for calibration
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float _accel_max_abs_offsets [ INS_MAX_INSTANCES ] ;
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// accelerometer and gyro raw sample rate in units of Hz
AP_InertialSensor: use raw sample rate terminology
In order to avoid confusion between sample rate from sensor and sample rate
from the frontend class (AP_InertialSensor), use "raw sample rate" to refer to
the former.
The changes in the code were basically done with the following commands:
git grep -wl _accel_sample_rates | xargs sed -i "s,\<_accel_sample_rates\>,_accel_raw_sample_rates,g"
git grep -wl _set_accel_sample_rate | xargs sed -i "s,\<_set_accel_sample_rate\>,_set_accel_raw_sample_rate,g"
git grep -wl _accel_sample_rate | xargs sed -i "s,\<_accel_sample_rate\>,_accel_raw_sample_rate,g"
git grep -wl _gyro_sample_rates | xargs sed -i "s,\<_gyro_sample_rates\>,_gyro_raw_sample_rates,g"
git grep -wl _set_gyro_sample_rate | xargs sed -i "s,\<_set_gyro_sample_rate\>,_set_gyro_raw_sample_rate,g"
git grep -wl _gyro_sample_rate | xargs sed -i "s,\<_gyro_sample_rate\>,_gyro_raw_sample_rate,g"
And also with minor changes on indentation and comments.
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uint32_t _accel_raw_sample_rates [ INS_MAX_INSTANCES ] ;
uint32_t _gyro_raw_sample_rates [ INS_MAX_INSTANCES ] ;
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// temperatures for an instance if available
float _temperature [ INS_MAX_INSTANCES ] ;
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// filtering frequency (0 means default)
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AP_Int8 _accel_filter_cutoff ;
AP_Int8 _gyro_filter_cutoff ;
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AP_Int8 _gyro_cal_timing ;
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// use for attitude, velocity, position estimates
AP_Int8 _use [ INS_MAX_INSTANCES ] ;
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// board orientation from AHRS
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enum Rotation _board_orientation ;
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// calibrated_ok flags
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bool _gyro_cal_ok [ INS_MAX_INSTANCES ] ;
// primary accel and gyro
uint8_t _primary_gyro ;
uint8_t _primary_accel ;
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// has wait_for_sample() found a sample?
bool _have_sample : 1 ;
// are we in HIL mode?
bool _hil_mode : 1 ;
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// are gyros or accels currently being calibrated
bool _calibrating : 1 ;
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// should we log raw accel/gyro data?
bool _log_raw_data : 1 ;
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bool _backends_detected : 1 ;
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// the delta time in seconds for the last sample
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float _delta_time ;
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// last time a wait_for_sample() returned a sample
uint32_t _last_sample_usec ;
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// target time for next wait_for_sample() return
uint32_t _next_sample_usec ;
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// time between samples in microseconds
uint32_t _sample_period_usec ;
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// health of gyros and accels
bool _gyro_healthy [ INS_MAX_INSTANCES ] ;
bool _accel_healthy [ INS_MAX_INSTANCES ] ;
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uint32_t _accel_error_count [ INS_MAX_INSTANCES ] ;
uint32_t _gyro_error_count [ INS_MAX_INSTANCES ] ;
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// vibration and clipping
uint32_t _accel_clip_count [ INS_MAX_INSTANCES ] ;
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LowPassFilterVector3f _accel_vibe_floor_filter [ INS_VIBRATION_CHECK_INSTANCES ] ;
LowPassFilterVector3f _accel_vibe_filter [ INS_VIBRATION_CHECK_INSTANCES ] ;
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// threshold for detecting stillness
AP_Float _still_threshold ;
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/*
state for HIL support
*/
struct {
float delta_time ;
} _hil { } ;
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DataFlash_Class * _dataflash ;
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static AP_InertialSensor * _s_instance ;
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} ;
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# include "AP_InertialSensor_Backend.h"
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# include "AP_InertialSensor_MPU6000.h"
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# include "AP_InertialSensor_PX4.h"
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# include "AP_InertialSensor_MPU9250.h"
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# include "AP_InertialSensor_L3G4200D.h"
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# include "AP_InertialSensor_Flymaple.h"
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# include "AP_InertialSensor_MPU9150.h"
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# include "AP_InertialSensor_LSM9DS0.h"
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# include "AP_InertialSensor_HIL.h"
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# include "AP_InertialSensor_UserInteract_Stream.h"
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# include "AP_InertialSensor_UserInteract_MAVLink.h"
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# endif // __AP_INERTIAL_SENSOR_H__