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AP_InertialSensor: added get_temperature() interface

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this will allow logging of individual temperature sensors
This commit is contained in:
Andrew Tridgell 2015-03-17 13:32:54 +11:00
parent 9468a59204
commit 23272e4013
4 changed files with 39 additions and 4 deletions
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7
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -160,6 +160,10 @@ public:
const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; }
const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); }
// return the temperature if supported. Zero is returned if no
// temperature is available
float get_temperature(uint8_t instance) const { return _temperature[instance]; }
/* get_delta_time returns the time period in seconds
* overwhich the sensor data was collected
*/
@ -261,6 +265,9 @@ private:
AP_Vector3f _accel_offset[INS_MAX_INSTANCES];
AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
// temperatures for an instance if available
float _temperature[INS_MAX_INSTANCES];
// filtering frequency (0 means default)
AP_Int8 _accel_filter_cutoff;
AP_Int8 _gyro_filter_cutoff;

8
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp
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@ -95,3 +95,11 @@ uint16_t AP_InertialSensor_Backend::get_sample_rate_hz(void) const
// enum can be directly cast to Hz
return (uint16_t)_imu._sample_rate;
}
/*
publish a temperature value for an instance
*/
void AP_InertialSensor_Backend::_publish_temperature(uint8_t instance, float temperature)
{
_imu._temperature[instance] = temperature;
}

3
libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
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@ -73,6 +73,9 @@ protected:
// rotate accel vector, scale, offset and publish
void _publish_accel(uint8_t instance, const Vector3f &accel, bool rotate_and_correct = true);
// publish a temperature value
void _publish_temperature(uint8_t instance, float temperature);
// set accelerometer error_count
void _set_accel_error_count(uint8_t instance, uint32_t error_count);

25
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -270,6 +270,9 @@ void AP_InertialSensor_PX4::_new_accel_sample(uint8_t i, accel_report &accel_rep
// report error count
_set_accel_error_count(frontend_instance, accel_report.error_count);
// publish a temperature (for logging purposed only)
_publish_temperature(frontend_instance, accel_report.temperature);
#ifdef AP_INERTIALSENSOR_PX4_DEBUG
_accel_dt_max[i] = max(_accel_dt_max[i],dt);
@ -377,12 +380,26 @@ void AP_InertialSensor_PX4::_get_sample()
_last_get_sample_timestamp = hal.scheduler->micros64();
}
bool AP_InertialSensor_PX4::_get_accel_sample(uint8_t i, struct accel_report &accel_report) {
return i<_num_accel_instances && _accel_fd[i] != -1 && ::read(_accel_fd[i], &accel_report, sizeof(accel_report)) == sizeof(accel_report) && accel_report.timestamp != _last_accel_timestamp[i];
bool AP_InertialSensor_PX4::_get_accel_sample(uint8_t i, struct accel_report &accel_report)
{
if (i<_num_accel_instances &&
_accel_fd[i] != -1 &&
::read(_accel_fd[i], &accel_report, sizeof(accel_report)) == sizeof(accel_report) &&
accel_report.timestamp != _last_accel_timestamp[i]) {
return true;
}
return false;
}
bool AP_InertialSensor_PX4::_get_gyro_sample(uint8_t i, struct gyro_report &gyro_report) {
return i<_num_gyro_instances && _gyro_fd[i] != -1 && ::read(_gyro_fd[i], &gyro_report, sizeof(gyro_report)) == sizeof(gyro_report) && gyro_report.timestamp != _last_gyro_timestamp[i];
bool AP_InertialSensor_PX4::_get_gyro_sample(uint8_t i, struct gyro_report &gyro_report)
{
if (i<_num_gyro_instances &&
_gyro_fd[i] != -1 &&
::read(_gyro_fd[i], &gyro_report, sizeof(gyro_report)) == sizeof(gyro_report) &&
gyro_report.timestamp != _last_gyro_timestamp[i]) {
return true;
}
return false;
}
bool AP_InertialSensor_PX4::gyro_sample_available(void)