mirror of https://github.com/ArduPilot/ardupilot
73 lines
2.0 KiB
C++
73 lines
2.0 KiB
C++
#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "AP_InertialSensor_qflight.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_QFLIGHT::AP_InertialSensor_QFLIGHT(AP_InertialSensor &imu) :
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AP_InertialSensor_Backend(imu)
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{
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}
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/*
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detect the sensor
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*/
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AP_InertialSensor_Backend *AP_InertialSensor_QFLIGHT::detect(AP_InertialSensor &_imu)
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{
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AP_InertialSensor_QFLIGHT *sensor = new AP_InertialSensor_QFLIGHT(_imu);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->init_sensor()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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bool AP_InertialSensor_QFLIGHT::init_sensor(void)
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{
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gyro_instance = _imu.register_gyro(1000);
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accel_instance = _imu.register_accel(1000);
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_InertialSensor_QFLIGHT::timer_update, void));
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_product_id = AP_PRODUCT_ID_MPU9250;
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return true;
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}
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void AP_InertialSensor_QFLIGHT::timer_update(void)
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{
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if (imubuf == nullptr) {
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imubuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::IMU);
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if (imubuf == nullptr) {
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AP_HAL::panic("unable to allocate IMU buffer");
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}
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}
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int ret = qflight_get_imu_data((uint8_t *)imubuf, sizeof(*imubuf));
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if (ret != 0) {
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return;
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}
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for (uint16_t i=0; i<imubuf->num_samples; i++) {
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DSPBuffer::IMU::BUF &b = imubuf->buf[i];
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Vector3f accel(b.accel[0], b.accel[1], b.accel[2]);
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Vector3f gyro(b.gyro[0], b.gyro[1], b.gyro[2]);
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_rotate_and_correct_accel(accel_instance, accel);
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_rotate_and_correct_gyro(gyro_instance, gyro);
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_notify_new_accel_raw_sample(accel_instance, accel, b.timestamp);
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_notify_new_gyro_raw_sample(gyro_instance, gyro, b.timestamp);
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}
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}
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bool AP_InertialSensor_QFLIGHT::update(void)
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{
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update_accel(accel_instance);
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update_gyro(gyro_instance);
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return true;
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}
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#endif // HAL_BOARD_QFLIGHT
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