mirror of https://github.com/ArduPilot/ardupilot
52 lines
1.8 KiB
C++
52 lines
1.8 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#include "AP_InertialSensor.h"
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#if AP_INERTIALSENSOR_FAST_SAMPLE_WINDOW_ENABLED
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#define AP_INERTIAL_SENSOR_RATE_LOOP_BUFFER_SIZE 8 // gyro buffer size for rate loop
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#include <AP_HAL/AP_HAL_Boards.h>
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#include <AP_HAL/utility/RingBuffer.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_HAL/Semaphores.h>
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class FastRateBuffer
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{
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friend class AP_InertialSensor;
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public:
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bool get_next_gyro_sample(Vector3f& gyro);
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uint32_t get_num_gyro_samples() { return _rate_loop_gyro_window.available(); }
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void set_rate_decimation(uint8_t rdec) { rate_decimation = rdec; }
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// whether or not to push the current gyro sample
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bool use_rate_loop_gyro_samples() const { return rate_decimation > 0; }
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bool gyro_samples_available() { return _rate_loop_gyro_window.available() > 0; }
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void reset();
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private:
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/*
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binary semaphore for rate loop to use to start a rate loop when
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we hav finished filtering the primary IMU
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*/
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ObjectBuffer<Vector3f> _rate_loop_gyro_window{AP_INERTIAL_SENSOR_RATE_LOOP_BUFFER_SIZE};
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uint8_t rate_decimation; // 0 means off
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uint8_t rate_decimation_count;
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HAL_BinarySemaphore _notifier;
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HAL_Semaphore _mutex;
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};
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#endif
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