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uncrustify libraries/AP_IMU/IMU.h

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uncrustify 2012-08-16 23:19:49 -07:00 committed by Pat Hickey
parent a704f06119
commit 4aa6f1d7a3
1 changed files with 92 additions and 86 deletions
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178
libraries/AP_IMU/IMU.h
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@ -15,113 +15,119 @@ class IMU
{ {
public: public:
/// Constructor /// Constructor
IMU(); IMU();
enum Start_style { enum Start_style {
COLD_START = 0, COLD_START = 0,
WARM_START WARM_START
}; };
/// Perform startup initialisation. /// Perform startup initialisation.
/// ///
/// Called to initialise the state of the IMU. /// Called to initialise the state of the IMU.
/// ///
/// For COLD_START, implementations using real sensors can assume /// For COLD_START, implementations using real sensors can assume
/// that the airframe is stationary and nominally oriented. /// that the airframe is stationary and nominally oriented.
/// ///
/// For WARM_START, no assumptions should be made about the /// For WARM_START, no assumptions should be made about the
/// orientation or motion of the airframe. Calibration should be /// orientation or motion of the airframe. Calibration should be
/// as for the previous COLD_START call. /// as for the previous COLD_START call.
/// ///
/// @param style The initialisation startup style. /// @param style The initialisation startup style.
/// ///
virtual void init( Start_style style, virtual void init( Start_style style,
void (*delay_cb)(unsigned long t), void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on), void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler ); AP_PeriodicProcess * scheduler );
/// Perform cold startup initialisation for just the accelerometers. /// Perform cold startup initialisation for just the accelerometers.
/// ///
/// @note This should not be called unless ::init has previously /// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work. /// been called, as ::init may perform other work.
/// ///
virtual void init_accel(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on)); virtual void init_accel(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Perform cold-start initialisation for just the gyros. /// Perform cold-start initialisation for just the gyros.
/// ///
/// @note This should not be called unless ::init has previously /// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work /// been called, as ::init may perform other work
/// ///
virtual void init_gyro(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on)); virtual void init_gyro(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Give the IMU some cycles to perform/fetch an update from its /// Give the IMU some cycles to perform/fetch an update from its
/// sensors. /// sensors.
/// ///
/// @returns True if some state was updated. /// @returns True if some state was updated.
/// ///
virtual bool update(void); virtual bool update(void);
// true if new data is available from the sensors // true if new data is available from the sensors
virtual bool new_data_available(void); virtual bool new_data_available(void);
/// Fetch the current gyro values /// Fetch the current gyro values
/// ///
/// @returns vector of rotational rates in radians/sec /// @returns vector of rotational rates in radians/sec
/// ///
Vector3f get_gyro(void) { return _gyro; } Vector3f get_gyro(void) {
return _gyro;
}
/// Fetch the current accelerometer values /// Fetch the current accelerometer values
/// ///
/// @returns vector of current accelerations in m/s/s /// @returns vector of current accelerations in m/s/s
/// ///
Vector3f get_accel(void) { return _accel; } Vector3f get_accel(void) {
return _accel;
}
/// return the number of seconds that the last update represents /// return the number of seconds that the last update represents
/// ///
/// @returns number of seconds /// @returns number of seconds
/// ///
float get_delta_time(void) { return _sample_time * 1.0e-6; } float get_delta_time(void) {
return _sample_time * 1.0e-6;
}
/// return the maximum gyro drift rate in radians/s/s. This /// return the maximum gyro drift rate in radians/s/s. This
/// depends on what gyro chips are being used /// depends on what gyro chips are being used
virtual float get_gyro_drift_rate(void); virtual float get_gyro_drift_rate(void);
/// A count of bad sensor readings /// A count of bad sensor readings
/// ///
/// @todo This should be renamed, as there's no guarantee that sensors /// @todo This should be renamed, as there's no guarantee that sensors
/// are using ADCs, etc. /// are using ADCs, etc.
/// ///
uint8_t adc_constraints; uint8_t adc_constraints;
virtual float gx(void); virtual float gx(void);
virtual float gy(void); virtual float gy(void);
virtual float gz(void); virtual float gz(void);
virtual float ax(void); virtual float ax(void);
virtual float ay(void); virtual float ay(void);
virtual float az(void); virtual float az(void);
virtual void ax(const float v); virtual void ax(const float v);
virtual void ay(const float v); virtual void ay(const float v);
virtual void az(const float v); virtual void az(const float v);
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets
/// Most recent accelerometer reading obtained by ::update /// Most recent accelerometer reading obtained by ::update
Vector3f _accel; Vector3f _accel;
/// Most recent gyro reading obtained by ::update /// Most recent gyro reading obtained by ::update
Vector3f _gyro; Vector3f _gyro;
/// number of microseconds that the accel and gyro values /// number of microseconds that the accel and gyro values
/// were sampled over /// were sampled over
uint32_t _sample_time; uint32_t _sample_time;
AP_Int16 _product_id; // this is the product id returned from the INS init AP_Int16 _product_id; // this is the product id returned from the INS init
}; };
#endif #endif