mirror of https://github.com/ArduPilot/ardupilot
67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_MPU9150_H__
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#define __AP_INERTIAL_SENSOR_MPU9150_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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#include <Filter.h>
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#include <LowPassFilter2p.h>
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class AP_InertialSensor_MPU9150 : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_MPU9150(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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bool gyro_sample_available(void) { return _have_sample_available; }
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bool accel_sample_available(void) { return _have_sample_available; }
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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private:
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bool _init_sensor();
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void _accumulate(void);
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Vector3f _accel_filtered;
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Vector3f _gyro_filtered;
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bool _have_sample_available;
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// // support for updating filter at runtime
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uint8_t _last_filter_hz;
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uint8_t _default_filter_hz;
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int16_t mpu_set_gyro_fsr(uint16_t fsr);
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int16_t mpu_set_accel_fsr(uint8_t fsr);
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int16_t mpu_set_lpf(uint16_t lpf);
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int16_t mpu_set_sample_rate(uint16_t rate);
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int16_t mpu_set_compass_sample_rate(uint16_t rate, uint16_t chip_sample_rate);
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int16_t mpu_configure_fifo(uint8_t sensors);
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int16_t set_int_enable(uint8_t enable);
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int16_t mpu_reset_fifo(uint8_t sensors);
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int16_t mpu_set_sensors(uint8_t sensors);
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int16_t mpu_set_int_latched(uint8_t enable);
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int16_t mpu_read_fifo(int16_t *gyro, int16_t *accel, uint32_t timestamp, uint8_t *sensors, uint8_t *more);
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void _set_filter_frequency(uint8_t filter_hz);
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// Low Pass filters for gyro and accel
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LowPassFilter2p _accel_filter_x;
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LowPassFilter2p _accel_filter_y;
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LowPassFilter2p _accel_filter_z;
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LowPassFilter2p _gyro_filter_x;
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LowPassFilter2p _gyro_filter_y;
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LowPassFilter2p _gyro_filter_z;
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_MPU9150_H__
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