mirror of https://github.com/ArduPilot/ardupilot
38 lines
911 B
C++
38 lines
911 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "AP_InertialSensor.h"
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_Flymaple(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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// accumulate samples
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void accumulate(void) override;
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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private:
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bool _init_sensor(void);
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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uint32_t _last_gyro_timestamp;
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uint32_t _last_accel_timestamp;
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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