mirror of https://github.com/ArduPilot/ardupilot
72 lines
2.0 KiB
C++
72 lines
2.0 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_INERTIAL_SENSOR_PX4_H__
|
|
#define __AP_INERTIAL_SENSOR_PX4_H__
|
|
|
|
#include <AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
|
|
|
|
#include <AP_Progmem.h>
|
|
#include "AP_InertialSensor.h"
|
|
#include <drivers/drv_accel.h>
|
|
#include <drivers/drv_gyro.h>
|
|
#include <uORB/uORB.h>
|
|
#include <uORB/topics/sensor_combined.h>
|
|
|
|
class AP_InertialSensor_PX4 : public AP_InertialSensor
|
|
{
|
|
public:
|
|
|
|
AP_InertialSensor_PX4() :
|
|
AP_InertialSensor(),
|
|
_last_get_sample_timestamp(0),
|
|
_sample_time_usec(0)
|
|
{
|
|
}
|
|
|
|
/* Concrete implementation of AP_InertialSensor functions: */
|
|
bool update();
|
|
float get_delta_time() const;
|
|
float get_gyro_drift_rate();
|
|
bool wait_for_sample(uint16_t timeout_ms);
|
|
bool healthy(void) const;
|
|
|
|
// multi-device interface
|
|
bool get_gyro_health(uint8_t instance) const;
|
|
uint8_t get_gyro_count(void) const;
|
|
|
|
bool get_accel_health(uint8_t instance) const;
|
|
uint8_t get_accel_count(void) const;
|
|
|
|
uint8_t get_primary_accel(void) const;
|
|
|
|
private:
|
|
uint8_t _get_primary_gyro(void) const;
|
|
|
|
uint16_t _init_sensor( Sample_rate sample_rate );
|
|
void _get_sample(void);
|
|
bool _sample_available(void);
|
|
Vector3f _accel_in[INS_MAX_INSTANCES];
|
|
Vector3f _gyro_in[INS_MAX_INSTANCES];
|
|
uint64_t _last_accel_timestamp[INS_MAX_INSTANCES];
|
|
uint64_t _last_gyro_timestamp[INS_MAX_INSTANCES];
|
|
uint64_t _last_get_sample_timestamp;
|
|
uint64_t _last_sample_timestamp;
|
|
uint32_t _sample_time_usec;
|
|
bool _have_sample_available;
|
|
|
|
// support for updating filter at runtime
|
|
uint8_t _last_filter_hz;
|
|
uint8_t _default_filter_hz;
|
|
|
|
void _set_filter_frequency(uint8_t filter_hz);
|
|
|
|
// accelerometer and gyro driver handles
|
|
uint8_t _num_accel_instances;
|
|
uint8_t _num_gyro_instances;
|
|
int _accel_fd[INS_MAX_INSTANCES];
|
|
int _gyro_fd[INS_MAX_INSTANCES];
|
|
};
|
|
#endif
|
|
#endif // __AP_INERTIAL_SENSOR_PX4_H__
|