mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
#pragma once
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#include "AP_Airspeed_config.h"
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#if AP_AIRSPEED_DRONECAN_ENABLED
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#include "AP_Airspeed_Backend.h"
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#include <AP_DroneCAN/AP_DroneCAN.h>
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class AP_Airspeed_DroneCAN : public AP_Airspeed_Backend {
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public:
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using AP_Airspeed_Backend::AP_Airspeed_Backend;
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bool init(void) override;
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure) override;
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// temperature not available via analog backend
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bool get_temperature(float &temperature) override;
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#if AP_AIRSPEED_HYGROMETER_ENABLE
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// get hygrometer data
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bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;
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#endif
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static void subscribe_msgs(AP_DroneCAN* ap_dronecan);
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static AP_Airspeed_Backend* probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid);
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private:
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static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);
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static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);
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static AP_Airspeed_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);
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float _pressure; // Pascal
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float _temperature; // Celcius
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uint32_t _last_sample_time_ms;
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// hygrometer data
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struct {
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float temperature;
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float humidity;
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uint32_t last_sample_ms;
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} _hygrometer;
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HAL_Semaphore _sem_airspeed;
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// Module Detection Registry
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static struct DetectedModules {
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AP_DroneCAN* ap_dronecan;
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uint8_t node_id;
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AP_Airspeed_DroneCAN *driver;
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} _detected_modules[AIRSPEED_MAX_SENSORS];
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static HAL_Semaphore _sem_registry;
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bool _have_temperature;
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};
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#endif // AP_AIRSPEED_DRONECAN_ENABLED
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