mirror of https://github.com/ArduPilot/ardupilot
49 lines
1.2 KiB
C++
49 lines
1.2 KiB
C++
#pragma once
|
|
|
|
#include "AP_Airspeed_Backend.h"
|
|
|
|
#include <AP_UAVCAN/AP_UAVCAN.h>
|
|
|
|
class AirspeedCb;
|
|
|
|
class AP_Airspeed_UAVCAN : public AP_Airspeed_Backend {
|
|
public:
|
|
AP_Airspeed_UAVCAN(AP_Airspeed &_frontend, uint8_t _instance);
|
|
|
|
bool init(void) override;
|
|
|
|
// return the current differential_pressure in Pascal
|
|
bool get_differential_pressure(float &pressure) override;
|
|
|
|
// temperature not available via analog backend
|
|
bool get_temperature(float &temperature) override;
|
|
|
|
static void subscribe_msgs(AP_UAVCAN* ap_uavcan);
|
|
|
|
static AP_Airspeed_Backend* probe(AP_Airspeed &_fronted, uint8_t _instance);
|
|
|
|
private:
|
|
static bool take_registry();
|
|
|
|
static void give_registry();
|
|
|
|
static void handle_airspeed(AP_UAVCAN* ap_uavcan, uint8_t node_id, const AirspeedCb &cb);
|
|
|
|
static AP_Airspeed_UAVCAN* get_uavcan_backend(AP_UAVCAN* ap_uavcan, uint8_t node_id);
|
|
|
|
float _pressure; // Pascal
|
|
float _temperature; // Kelvin
|
|
uint32_t _last_sample_time_ms;
|
|
|
|
HAL_Semaphore _sem_airspeed;
|
|
|
|
// Module Detection Registry
|
|
static struct DetectedModules {
|
|
AP_UAVCAN* ap_uavcan;
|
|
uint8_t node_id;
|
|
AP_Airspeed_UAVCAN *driver;
|
|
} _detected_modules[AIRSPEED_MAX_SENSORS];
|
|
|
|
static HAL_Semaphore _sem_registry;
|
|
};
|