ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h

54 lines
1.5 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
#define __AP_INERTIAL_SENSOR_OILPAN_H__
#include <stdint.h>
#include <AP_ADC.h>
#include <AP_Math.h>
#include "AP_InertialSensor.h"
class AP_InertialSensor_Oilpan : public AP_InertialSensor
{
public:
AP_InertialSensor_Oilpan( AP_ADC * adc );
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
float get_delta_time(); // get_delta_time returns the time period in seconds overwhich the sensor data was collected
float get_gyro_drift_rate();
// sample_available() - true when a new sample is available
bool sample_available();
// wait for a sample to be available, with timeout in milliseconds
bool wait_for_sample(uint16_t timeout_ms);
protected:
uint16_t _init_sensor(Sample_rate sample_rate);
private:
AP_ADC * _adc;
float _temp;
uint32_t _delta_time_micros;
static const uint8_t _sensors[6];
static const int8_t _sensor_signs[6];
static const uint8_t _gyro_temp_ch;
static const float _gyro_gain_x;
static const float _gyro_gain_y;
static const float _gyro_gain_z;
static const float _adc_constraint;
uint8_t _sample_threshold;
};
#endif // __AP_INERTIAL_SENSOR_OILPAN_H__