mirror of https://github.com/ArduPilot/ardupilot
89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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parent class for ExternalAHRS backends
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*/
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#pragma once
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#include "AP_ExternalAHRS.h"
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#if HAL_EXTERNAL_AHRS_ENABLED
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class AP_ExternalAHRS_backend {
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public:
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AP_ExternalAHRS_backend(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
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// get serial port number, -1 for not enabled
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virtual int8_t get_port(void) const { return -1; }
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// Get model/type name
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virtual const char* get_name() const = 0;
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// Accessors for AP_AHRS
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// If not healthy, none of the other API's can be trusted.
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// Example: Serial cable is severed.
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virtual bool healthy(void) const = 0;
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// The communication interface is up and the device has sent valid data.
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virtual bool initialised(void) const = 0;
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virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0;
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virtual void get_filter_status(nav_filter_status &status) const {}
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virtual bool get_variances(float &velVar, float &posVar, float &hgtVar, Vector3f &magVar, float &tasVar) const { return false; }
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// Check for new data.
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// This is used when there's not a separate thread for EAHRS.
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// This can also copy interim state protected by locking.
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virtual void update() = 0;
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// Return the number of GPS sensors sharing data to AP_GPS.
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virtual uint8_t num_gps_sensors(void) const = 0;
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protected:
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AP_ExternalAHRS::state_t &state;
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uint16_t get_rate(void) const;
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bool option_is_set(AP_ExternalAHRS::OPTIONS option) const;
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// set default of EAHRS_SENSORS
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void set_default_sensors(uint16_t sensors) {
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frontend.set_default_sensors(sensors);
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}
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/*
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return true if the GNSS is disabled
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*/
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bool gnss_is_disabled(void) const {
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return frontend.gnss_is_disabled;
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}
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/*
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return true when we are in fixed wing flight
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*/
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bool in_fly_forward(void) const;
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/*
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scale factors for get_variances() to return normalised values from SI units
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*/
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const float vel_gate_scale = 0.2;
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const float pos_gate_scale = 0.2;
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const float hgt_gate_scale = 0.2;
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private:
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AP_ExternalAHRS &frontend;
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};
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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