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AP_InertialSensor: expose get_primary_accel() for use in AHRS

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This commit is contained in:
Andrew Tridgell 2014-02-27 16:27:46 +11:00
parent cf148fa76c
commit 2c85a7ba56
3 changed files with 9 additions and 7 deletions
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11
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -107,7 +107,7 @@ public:
/// @returns vector of current accelerations in m/s/s /// @returns vector of current accelerations in m/s/s
/// ///
const Vector3f &get_accel(uint8_t i) const { return _accel[i]; } const Vector3f &get_accel(uint8_t i) const { return _accel[i]; }
const Vector3f &get_accel(void) const { return get_accel(_get_primary_accel()); } const Vector3f &get_accel(void) const { return get_accel(get_primary_accel()); }
virtual void set_accel(uint8_t instance, const Vector3f &accel) {} virtual void set_accel(uint8_t instance, const Vector3f &accel) {}
// multi-device interface // multi-device interface
@ -116,16 +116,16 @@ public:
virtual uint8_t get_gyro_count(void) const { return 1; }; virtual uint8_t get_gyro_count(void) const { return 1; };
virtual bool get_accel_health(uint8_t instance) const { return true; } virtual bool get_accel_health(uint8_t instance) const { return true; }
bool get_accel_health(void) const { return get_accel_health(_get_primary_accel()); } bool get_accel_health(void) const { return get_accel_health(get_primary_accel()); }
virtual uint8_t get_accel_count(void) const { return 1; }; virtual uint8_t get_accel_count(void) const { return 1; };
// get accel offsets in m/s/s // get accel offsets in m/s/s
const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; } const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; }
const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_get_primary_accel()); } const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(get_primary_accel()); }
// get accel scale // get accel scale
const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; } const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; }
const Vector3f &get_accel_scale(void) const { return get_accel_scale(_get_primary_accel()); } const Vector3f &get_accel_scale(void) const { return get_accel_scale(get_primary_accel()); }
/* Update the sensor data, so that getters are nonblocking. /* Update the sensor data, so that getters are nonblocking.
* Returns a bool of whether data was updated or not. * Returns a bool of whether data was updated or not.
@ -162,10 +162,11 @@ public:
virtual uint16_t error_count(void) const { return 0; } virtual uint16_t error_count(void) const { return 0; }
virtual bool healthy(void) const { return get_gyro_health() && get_accel_health(); } virtual bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
virtual uint8_t get_primary_accel(void) const { return 0; }
protected: protected:
virtual uint8_t _get_primary_gyro(void) const { return 0; } virtual uint8_t _get_primary_gyro(void) const { return 0; }
virtual uint8_t _get_primary_accel(void) const { return 0; }
// sensor specific init to be overwritten by descendant classes // sensor specific init to be overwritten by descendant classes
virtual uint16_t _init_sensor( Sample_rate sample_rate ) = 0; virtual uint16_t _init_sensor( Sample_rate sample_rate ) = 0;

2
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp
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@ -252,7 +252,7 @@ uint8_t AP_InertialSensor_PX4::_get_primary_gyro(void) const
return 0; return 0;
} }
uint8_t AP_InertialSensor_PX4::_get_primary_accel(void) const uint8_t AP_InertialSensor_PX4::get_primary_accel(void) const
{ {
for (uint8_t i=0; i<_num_accel_instances; i++) { for (uint8_t i=0; i<_num_accel_instances; i++) {
if (get_accel_health(i)) return i; if (get_accel_health(i)) return i;

3
libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
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@ -38,9 +38,10 @@ public:
bool get_accel_health(uint8_t instance) const; bool get_accel_health(uint8_t instance) const;
uint8_t get_accel_count(void) const; uint8_t get_accel_count(void) const;
uint8_t get_primary_accel(void) const;
private: private:
uint8_t _get_primary_gyro(void) const; uint8_t _get_primary_gyro(void) const;
uint8_t _get_primary_accel(void) const;
uint16_t _init_sensor( Sample_rate sample_rate ); uint16_t _init_sensor( Sample_rate sample_rate );
void _get_sample(void); void _get_sample(void);