mirror of https://github.com/ArduPilot/ardupilot
43 lines
1.3 KiB
C++
43 lines
1.3 KiB
C++
#pragma once
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#include "AP_Baro.h"
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#include <AP_Common/Semaphore.h>
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class AP_Baro_Backend
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{
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public:
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AP_Baro_Backend(AP_Baro &baro);
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virtual ~AP_Baro_Backend(void) {};
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// each driver must provide an update method to copy accumulated
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// data to the frontend
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virtual void update() = 0;
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// accumulate function. This is used for backends that don't use a
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// timer, and need to be called regularly by the main code to
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// trigger them to read the sensor
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virtual void accumulate(void) {}
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void backend_update(uint8_t instance);
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// Check that the baro valid by using a mean filter.
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// If the value further that filtrer_range from mean value, it is rejected.
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bool pressure_ok(float press);
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uint32_t get_error_count() const { return _error_count; }
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protected:
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// reference to frontend object
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AP_Baro &_frontend;
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void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
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// semaphore for access to shared frontend data
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HAL_Semaphore_Recursive _sem;
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virtual void update_healthy_flag(uint8_t instance);
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// mean pressure for range filter
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float _mean_pressure;
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// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
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uint32_t _error_count;
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};
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