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uncrustify libraries/AP_IMU/AP_IMU_INS.h

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uncrustify 2012-08-16 23:19:49 -07:00 committed by Pat Hickey
parent 4aa6f1d7a3
commit 37fd49d8de
1 changed files with 74 additions and 50 deletions
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122
libraries/AP_IMU/AP_IMU_INS.h
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@ -26,66 +26,90 @@ public:
/// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer. /// @param adc Pointer to the AP_ADC instance that is connected to the gyro and accelerometer.
/// @param key The AP_Var::key value we will use when loading/saving calibration data. /// @param key The AP_Var::key value we will use when loading/saving calibration data.
/// ///
AP_IMU_INS(AP_InertialSensor *ins) : AP_IMU_INS(AP_InertialSensor *ins) :
_ins(ins) _ins(ins)
{ {
_product_id = AP_PRODUCT_ID_NONE; // set during hardware init _product_id = AP_PRODUCT_ID_NONE; // set during hardware init
} }
/// Do warm or cold start. /// Do warm or cold start.
/// ///
/// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved /// @note For a partial-warmstart where e.g. the accelerometer calibration should be preserved
/// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the /// but the gyro cal needs to be re-performed, start with ::init(WARM_START) to load the
/// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro. /// previous calibration settings, then force a re-calibration of the gyro with ::init_gyro.
/// ///
/// @param style Selects the initialisation style. /// @param style Selects the initialisation style.
/// COLD_START performs calibration of both the accelerometer and gyro. /// COLD_START performs calibration of both the accelerometer and gyro.
/// WARM_START loads accelerometer and gyro calibration from a previous cold start. /// WARM_START loads accelerometer and gyro calibration from a previous cold start.
/// ///
virtual void init( Start_style style = COLD_START, virtual void init( Start_style style = COLD_START,
void (*delay_cb)(unsigned long t) = delay, void (*delay_cb)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL, void (*flash_leds_cb)(bool on) = NULL,
AP_PeriodicProcess *scheduler = NULL ); AP_PeriodicProcess * scheduler = NULL );
virtual void save(); virtual void save();
virtual void init_accel(void (*delay_cb)(unsigned long t) = delay, virtual void init_accel(void (*delay_cb)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL); void (*flash_leds_cb)(bool on) = NULL);
virtual void init_gyro(void (*delay_cb)(unsigned long t) = delay, virtual void init_gyro(void (*delay_cb)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL); void (*flash_leds_cb)(bool on) = NULL);
virtual bool update(void); virtual bool update(void);
virtual bool new_data_available(void); virtual bool new_data_available(void);
// for jason // for jason
virtual float gx() { return _sensor_cal[0]; } virtual float gx() {
virtual float gy() { return _sensor_cal[1]; } return _sensor_cal[0];
virtual float gz() { return _sensor_cal[2]; } }
virtual float ax() { return _sensor_cal[3]; } virtual float gy() {
virtual float ay() { return _sensor_cal[4]; } return _sensor_cal[1];
virtual float az() { return _sensor_cal[5]; } }
virtual float gz() {
return _sensor_cal[2];
}
virtual float ax() {
return _sensor_cal[3];
}
virtual float ay() {
return _sensor_cal[4];
}
virtual float az() {
return _sensor_cal[5];
}
virtual void gx(const float v) { _sensor_cal[0] = v; } virtual void gx(const float v) {
virtual void gy(const float v) { _sensor_cal[1] = v; } _sensor_cal[0] = v;
virtual void gz(const float v) { _sensor_cal[2] = v; } }
virtual void ax(const float v) { _sensor_cal[3] = v; } virtual void gy(const float v) {
virtual void ay(const float v) { _sensor_cal[4] = v; } _sensor_cal[1] = v;
virtual void az(const float v) { _sensor_cal[5] = v; } }
virtual float get_gyro_drift_rate(void); virtual void gz(const float v) {
_sensor_cal[2] = v;
}
virtual void ax(const float v) {
_sensor_cal[3] = v;
}
virtual void ay(const float v) {
_sensor_cal[4] = v;
}
virtual void az(const float v) {
_sensor_cal[5] = v;
}
virtual float get_gyro_drift_rate(void);
private: private:
AP_InertialSensor *_ins; ///< INS provides an axis and unit correct sensor source. AP_InertialSensor * _ins; ///< INS provides an axis and unit correct sensor source.
virtual void _init_accel(void (*delay_cb)(unsigned long t), virtual void _init_accel(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation
virtual void _init_gyro(void (*delay_cb)(unsigned long t), virtual void _init_gyro(void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation void (*flash_leds_cb)(bool on) = NULL); ///< no-save implementation
float _calibrated(uint8_t channel, float ins_value); float _calibrated(uint8_t channel, float ins_value);
// Gyro and Accelerometer calibration criteria // Gyro and Accelerometer calibration criteria
// //
static const float _accel_total_cal_change = 4.0; static const float _accel_total_cal_change = 4.0;
static const float _accel_max_cal_offset = 250.0; static const float _accel_max_cal_offset = 250.0;
}; };