ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#include <Filter.h>
#include <LowPassFilter2p.h>
class AP_InertialSensor_Flymaple : public AP_InertialSensor
{
public:
AP_InertialSensor_Flymaple() : AP_InertialSensor() {}
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
float get_delta_time() const;
float get_gyro_drift_rate();
bool wait_for_sample(uint16_t timeout_ms);
bool get_gyro_health(void) const;
bool get_accel_health(void) const;
bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
private:
uint16_t _init_sensor( Sample_rate sample_rate );
static void _accumulate(void);
bool _sample_available();
uint64_t _last_update_usec;
float _delta_time;
static Vector3f _accel_filtered;
static uint32_t _accel_samples;
static Vector3f _gyro_filtered;
static uint32_t _gyro_samples;
static uint64_t _last_accel_timestamp;
static uint64_t _last_gyro_timestamp;
uint8_t _sample_divider;
// support for updating filter at runtime
uint8_t _last_filter_hz;
uint8_t _default_filter_hz;
void _set_filter_frequency(uint8_t filter_hz);
// Low Pass filters for gyro and accel
static LowPassFilter2p _accel_filter_x;
static LowPassFilter2p _accel_filter_y;
static LowPassFilter2p _accel_filter_z;
static LowPassFilter2p _gyro_filter_x;
static LowPassFilter2p _gyro_filter_y;
static LowPassFilter2p _gyro_filter_z;
};
#endif
#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__