mirror of https://github.com/ArduPilot/ardupilot
400 lines
14 KiB
C++
400 lines
14 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_H__
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#define __AP_INERTIAL_SENSOR_H__
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// Gyro and Accelerometer calibration criteria
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#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f
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#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f
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#define AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS (15.5f*GRAVITY_MSS) // accelerometer values over 15.5G are recorded as a clipping error
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#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ 5.0f // accel vibration floor filter hz
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#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ 2.0f // accel vibration filter hz
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/**
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maximum number of INS instances available on this platform. If more
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than 1 then redundent sensors may be available
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*/
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#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
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#define INS_MAX_INSTANCES 3
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#define INS_MAX_BACKENDS 6
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#define INS_VIBRATION_CHECK 1
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#define INS_VIBRATION_CHECK_INSTANCES 2
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#else
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#define INS_MAX_INSTANCES 1
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#define INS_MAX_BACKENDS 1
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#define INS_VIBRATION_CHECK 0
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#endif
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#include <stdint.h>
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#include <AP_HAL/AP_HAL.h>
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#include <AP_Math/AP_Math.h>
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#include "AP_InertialSensor_UserInteract.h"
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#include <Filter/LowPassFilter.h>
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class AP_InertialSensor_Backend;
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class AuxiliaryBus;
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/*
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forward declare DataFlash class. We can't include DataFlash.h
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because of mutual dependencies
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*/
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class DataFlash_Class;
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/* AP_InertialSensor is an abstraction for gyro and accel measurements
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* which are correctly aligned to the body axes and scaled to SI units.
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*
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* Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt
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* blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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* original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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*/
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class AP_InertialSensor
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{
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friend class AP_InertialSensor_Backend;
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public:
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AP_InertialSensor();
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static AP_InertialSensor *get_instance();
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enum Start_style {
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COLD_START = 0,
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WARM_START
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};
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// the rate that updates will be available to the application
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enum Sample_rate {
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RATE_50HZ = 50,
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RATE_100HZ = 100,
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RATE_200HZ = 200,
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RATE_400HZ = 400
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};
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/// Perform startup initialisation.
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///
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/// Called to initialise the state of the IMU.
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///
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/// For COLD_START, implementations using real sensors can assume
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/// that the airframe is stationary and nominally oriented.
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///
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/// For WARM_START, no assumptions should be made about the
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/// orientation or motion of the airframe. Calibration should be
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/// as for the previous COLD_START call.
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///
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/// @param style The initialisation startup style.
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///
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void init( Start_style style,
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Sample_rate sample_rate);
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/// Register a new gyro/accel driver, allocating an instance
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/// number
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uint8_t register_gyro(void);
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uint8_t register_accel(void);
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// perform accelerometer calibration including providing user instructions
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// and feedback
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bool calibrate_accel(AP_InertialSensor_UserInteract *interact,
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float& trim_roll,
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float& trim_pitch);
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bool calibrate_trim(float &trim_roll, float &trim_pitch);
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/// calibrating - returns true if the gyros or accels are currently being calibrated
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bool calibrating() const { return _calibrating; }
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/// Perform cold-start initialisation for just the gyros.
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///
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/// @note This should not be called unless ::init has previously
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/// been called, as ::init may perform other work
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///
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void init_gyro(void);
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/// Fetch the current gyro values
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///
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/// @returns vector of rotational rates in radians/sec
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///
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const Vector3f &get_gyro(uint8_t i) const { return _gyro[i]; }
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const Vector3f &get_gyro(void) const { return get_gyro(_primary_gyro); }
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// set gyro offsets in radians/sec
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const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset[i]; }
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const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_primary_gyro); }
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//get delta angle if available
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bool get_delta_angle(uint8_t i, Vector3f &delta_angle) const;
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bool get_delta_angle(Vector3f &delta_angle) const { return get_delta_angle(_primary_gyro, delta_angle); }
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//get delta velocity if available
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bool get_delta_velocity(uint8_t i, Vector3f &delta_velocity) const;
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bool get_delta_velocity(Vector3f &delta_velocity) const { return get_delta_velocity(_primary_accel, delta_velocity); }
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float get_delta_velocity_dt(uint8_t i) const;
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float get_delta_velocity_dt() const { return get_delta_velocity_dt(_primary_accel); }
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/// Fetch the current accelerometer values
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///
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/// @returns vector of current accelerations in m/s/s
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///
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const Vector3f &get_accel(uint8_t i) const { return _accel[i]; }
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const Vector3f &get_accel(void) const { return get_accel(_primary_accel); }
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uint32_t get_gyro_error_count(uint8_t i) const { return _gyro_error_count[i]; }
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uint32_t get_accel_error_count(uint8_t i) const { return _accel_error_count[i]; }
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// multi-device interface
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bool get_gyro_health(uint8_t instance) const { return (instance<_gyro_count) ? _gyro_healthy[instance] : false; }
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bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
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bool get_gyro_health_all(void) const;
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uint8_t get_gyro_count(void) const { return _gyro_count; }
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bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
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bool gyro_calibrated_ok_all() const;
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bool use_gyro(uint8_t instance) const;
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bool get_accel_health(uint8_t instance) const { return (instance<_accel_count) ? _accel_healthy[instance] : false; }
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bool get_accel_health(void) const { return get_accel_health(_primary_accel); }
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bool get_accel_health_all(void) const;
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uint8_t get_accel_count(void) const { return _accel_count; };
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bool accel_calibrated_ok_all() const;
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bool use_accel(uint8_t instance) const;
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// get accel offsets in m/s/s
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const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; }
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const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); }
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// get accel scale
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const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; }
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const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); }
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// return the temperature if supported. Zero is returned if no
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// temperature is available
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float get_temperature(uint8_t instance) const { return _temperature[instance]; }
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/* get_delta_time returns the time period in seconds
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* overwhich the sensor data was collected
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*/
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float get_delta_time() const { return _delta_time; }
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// return the maximum gyro drift rate in radians/s/s. This
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// depends on what gyro chips are being used
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float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); }
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// update gyro and accel values from accumulated samples
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void update(void);
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// wait for a sample to be available
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void wait_for_sample(void);
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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// set overall board orientation
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void set_board_orientation(enum Rotation orientation) {
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_board_orientation = orientation;
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}
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// return the selected sample rate
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Sample_rate get_sample_rate(void) const { return _sample_rate; }
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uint16_t error_count(void) const { return 0; }
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bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
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uint8_t get_primary_accel(void) const { return _primary_accel; }
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uint8_t get_primary_gyro(void) const { return _primary_gyro; }
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// enable HIL mode
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void set_hil_mode(void) { _hil_mode = true; }
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// get the gyro filter rate in Hz
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uint8_t get_gyro_filter_hz(void) const { return _gyro_filter_cutoff; }
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// get the accel filter rate in Hz
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uint8_t get_accel_filter_hz(void) const { return _accel_filter_cutoff; }
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// pass in a pointer to DataFlash for raw data logging
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void set_dataflash(DataFlash_Class *dataflash) { _dataflash = dataflash; }
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// enable/disable raw gyro/accel logging
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void set_raw_logging(bool enable) { _log_raw_data = enable; }
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#if INS_VIBRATION_CHECK
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// calculate vibration levels and check for accelerometer clipping (called by a backends)
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void calc_vibration_and_clipping(uint8_t instance, const Vector3f &accel, float dt);
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// retrieve latest calculated vibration levels
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Vector3f get_vibration_levels() const { return get_vibration_levels(_primary_accel); }
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Vector3f get_vibration_levels(uint8_t instance) const;
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// retrieve and clear accelerometer clipping count
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uint32_t get_accel_clip_count(uint8_t instance) const;
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#endif
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// check for vibration movement. True when all axis show nearly zero movement
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bool is_still();
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/*
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HIL set functions. The minimum for HIL is set_accel() and
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set_gyro(). The others are option for higher fidelity log
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playback
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*/
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void set_accel(uint8_t instance, const Vector3f &accel);
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void set_gyro(uint8_t instance, const Vector3f &gyro);
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void set_delta_time(float delta_time);
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void set_delta_velocity(uint8_t instance, float deltavt, const Vector3f &deltav);
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void set_delta_angle(uint8_t instance, const Vector3f &deltaa);
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AuxiliaryBus *get_auxiliar_bus(int16_t backend_id);
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private:
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// load backend drivers
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void _add_backend(AP_InertialSensor_Backend *backend);
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void _detect_backends(void);
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void _start_backends();
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AP_InertialSensor_Backend *_find_backend(int16_t backend_id);
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// gyro initialisation
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void _init_gyro();
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// Calibration routines borrowed from Rolfe Schmidt
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// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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// _calibrate_accel - perform low level accel calibration
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bool _calibrate_accel(const Vector3f accel_sample[6],
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Vector3f& accel_offsets,
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Vector3f& accel_scale,
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float max_abs_offsets,
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enum Rotation rotation);
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bool _check_sample_range(const Vector3f accel_sample[6], enum Rotation rotation,
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AP_InertialSensor_UserInteract* interact);
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void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]);
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void _calibrate_reset_matrices(float dS[6], float JS[6][6]);
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void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]);
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bool _calculate_trim(const Vector3f &accel_sample, float& trim_roll, float& trim_pitch);
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// save parameters to eeprom
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void _save_parameters();
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// backend objects
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AP_InertialSensor_Backend *_backends[INS_MAX_BACKENDS];
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// number of gyros and accel drivers. Note that most backends
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// provide both accel and gyro data, so will increment both
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// counters on initialisation
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uint8_t _gyro_count;
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uint8_t _accel_count;
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uint8_t _backend_count;
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// the selected sample rate
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Sample_rate _sample_rate;
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// Most recent accelerometer reading
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Vector3f _accel[INS_MAX_INSTANCES];
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Vector3f _delta_velocity[INS_MAX_INSTANCES];
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float _delta_velocity_dt[INS_MAX_INSTANCES];
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bool _delta_velocity_valid[INS_MAX_INSTANCES];
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// Most recent gyro reading
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Vector3f _gyro[INS_MAX_INSTANCES];
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Vector3f _delta_angle[INS_MAX_INSTANCES];
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bool _delta_angle_valid[INS_MAX_INSTANCES];
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// product id
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AP_Int16 _product_id;
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// accelerometer scaling and offsets
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AP_Vector3f _accel_scale[INS_MAX_INSTANCES];
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AP_Vector3f _accel_offset[INS_MAX_INSTANCES];
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AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
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// accelerometer max absolute offsets to be used for calibration
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float _accel_max_abs_offsets[INS_MAX_INSTANCES];
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// temperatures for an instance if available
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float _temperature[INS_MAX_INSTANCES];
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// filtering frequency (0 means default)
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AP_Int8 _accel_filter_cutoff;
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AP_Int8 _gyro_filter_cutoff;
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// use for attitude, velocity, position estimates
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AP_Int8 _use[INS_MAX_INSTANCES];
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// board orientation from AHRS
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enum Rotation _board_orientation;
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// calibrated_ok flags
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bool _gyro_cal_ok[INS_MAX_INSTANCES];
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// primary accel and gyro
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uint8_t _primary_gyro;
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uint8_t _primary_accel;
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// has wait_for_sample() found a sample?
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bool _have_sample:1;
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// are we in HIL mode?
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bool _hil_mode:1;
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// are gyros or accels currently being calibrated
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bool _calibrating:1;
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// should we log raw accel/gyro data?
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bool _log_raw_data:1;
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bool _backends_detected:1;
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// the delta time in seconds for the last sample
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float _delta_time;
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// last time a wait_for_sample() returned a sample
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uint32_t _last_sample_usec;
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// target time for next wait_for_sample() return
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uint32_t _next_sample_usec;
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// time between samples in microseconds
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uint32_t _sample_period_usec;
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// health of gyros and accels
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bool _gyro_healthy[INS_MAX_INSTANCES];
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bool _accel_healthy[INS_MAX_INSTANCES];
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uint32_t _accel_error_count[INS_MAX_INSTANCES];
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uint32_t _gyro_error_count[INS_MAX_INSTANCES];
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#if INS_VIBRATION_CHECK
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// vibration and clipping
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uint32_t _accel_clip_count[INS_MAX_INSTANCES];
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LowPassFilterVector3f _accel_vibe_floor_filter[INS_VIBRATION_CHECK_INSTANCES];
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LowPassFilterVector3f _accel_vibe_filter[INS_VIBRATION_CHECK_INSTANCES];
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// threshold for detecting stillness
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AP_Float _still_threshold;
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#endif
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/*
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state for HIL support
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*/
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struct {
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float delta_time;
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} _hil {};
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DataFlash_Class *_dataflash;
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static AP_InertialSensor *_s_instance;
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};
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#include "AP_InertialSensor_Backend.h"
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#include "AP_InertialSensor_MPU6000.h"
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#include "AP_InertialSensor_PX4.h"
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#include "AP_InertialSensor_Oilpan.h"
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#include "AP_InertialSensor_MPU9250.h"
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#include "AP_InertialSensor_L3G4200D.h"
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#include "AP_InertialSensor_Flymaple.h"
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#include "AP_InertialSensor_MPU9150.h"
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#include "AP_InertialSensor_LSM9DS0.h"
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#include "AP_InertialSensor_HIL.h"
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#include "AP_InertialSensor_UserInteract_Stream.h"
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#include "AP_InertialSensor_UserInteract_MAVLink.h"
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#endif // __AP_INERTIAL_SENSOR_H__
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