mirror of https://github.com/ArduPilot/ardupilot
71 lines
2.1 KiB
C++
71 lines
2.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_BARO_H__
|
|
#define __AP_BARO_H__
|
|
|
|
#include <AP_Param.h>
|
|
#include <Filter.h>
|
|
#include <DerivativeFilter.h>
|
|
#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
|
|
|
|
class AP_Baro
|
|
{
|
|
public:
|
|
bool healthy;
|
|
AP_Baro() {
|
|
}
|
|
virtual bool init(AP_PeriodicProcess *scheduler)=0;
|
|
virtual uint8_t read() = 0;
|
|
virtual float get_pressure() = 0;
|
|
virtual float get_temperature() = 0;
|
|
|
|
virtual int32_t get_raw_pressure() = 0;
|
|
virtual int32_t get_raw_temp() = 0;
|
|
|
|
// calibrate the barometer. This must be called on startup if the
|
|
// altitude/climb_rate/acceleration interfaces are ever used
|
|
// the callback is a delay() like routine
|
|
void calibrate(void (*callback)(unsigned long t));
|
|
|
|
// get current altitude in meters relative to altitude at the time
|
|
// of the last calibrate() call
|
|
float get_altitude(void);
|
|
|
|
// return how many pressure samples were used to obtain
|
|
// the last pressure reading
|
|
uint8_t get_pressure_samples(void) {
|
|
return _pressure_samples;
|
|
}
|
|
|
|
// get current climb rate in meters/s. A positive number means
|
|
// going up
|
|
float get_climb_rate(void);
|
|
|
|
// the ground values are only valid after calibration
|
|
float get_ground_temperature(void) {
|
|
return _ground_temperature.get();
|
|
}
|
|
float get_ground_pressure(void) {
|
|
return _ground_pressure.get();
|
|
}
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
protected:
|
|
uint32_t _last_update;
|
|
uint8_t _pressure_samples;
|
|
|
|
private:
|
|
AP_Float _ground_temperature;
|
|
AP_Float _ground_pressure;
|
|
float _altitude;
|
|
uint32_t _last_altitude_t;
|
|
DerivativeFilterFloat_Size7 _climb_rate_filter;
|
|
};
|
|
|
|
#include "AP_Baro_MS5611.h"
|
|
#include "AP_Baro_BMP085.h"
|
|
#include "AP_Baro_BMP085_hil.h"
|
|
|
|
#endif // __AP_BARO_H__
|