ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Flymaple.h

51 lines
1.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
#include "AP_InertialSensor.h"
#include <Filter.h>
#include <LowPassFilter2p.h>
class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
{
public:
AP_InertialSensor_Flymaple(AP_InertialSensor &imu);
/* update accel and gyro state */
bool update();
bool gyro_sample_available(void) { _accumulate(); return _have_gyro_sample; }
bool accel_sample_available(void) { _accumulate(); return _have_accel_sample; }
// detect the sensor
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
private:
bool _init_sensor(void);
void _accumulate(void);
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
bool _have_gyro_sample;
bool _have_accel_sample;
// support for updating filter at runtime
uint8_t _last_filter_hz;
void _set_filter_frequency(uint8_t filter_hz);
// Low Pass filters for gyro and accel
LowPassFilter2pVector3f _accel_filter;
LowPassFilter2pVector3f _gyro_filter;
uint8_t _gyro_instance;
uint8_t _accel_instance;
uint32_t _last_gyro_timestamp;
uint32_t _last_accel_timestamp;
};
#endif
#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__