mirror of https://github.com/ArduPilot/ardupilot
61 lines
1.8 KiB
C++
61 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
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#define __AP_INERTIAL_SENSOR_OILPAN_H__
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#include <string.h>
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#include <stdint.h>
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#include "../AP_ADC/AP_ADC.h"
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#include "../AP_Math/AP_Math.h"
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_Oilpan : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_Oilpan( AP_ADC * adc );
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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bool new_data_available();
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float gx();
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float gy();
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float gz();
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float ax();
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float ay();
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float az();
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float temperature();
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uint32_t get_delta_time_micros(); // get_delta_time returns the time period in seconds overwhich the sensor data was collected
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//uint32_t get_last_sample_time_micros(); // last_sample_time - get time (in microseconds) that last sample was captured
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float get_gyro_drift_rate();
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// get number of samples read from the sensors
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uint16_t num_samples_available();
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protected:
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uint16_t _init_sensor(AP_PeriodicProcess * scheduler);
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private:
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AP_ADC * _adc;
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float _temp;
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uint32_t _delta_time_micros;
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static const uint8_t _sensors[6];
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static const int8_t _sensor_signs[6];
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static const uint8_t _gyro_temp_ch;
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static const float _gravity;
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static const float _gyro_gain_x;
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static const float _gyro_gain_y;
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static const float _gyro_gain_z;
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static const float _adc_constraint;
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};
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#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
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