mirror of https://github.com/ArduPilot/ardupilot
60 lines
1.6 KiB
C++
60 lines
1.6 KiB
C++
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#pragma once
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
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#include <AP_HAL/I2CDevice.h>
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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#include "AP_InertialSensor.h"
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#include "AP_InertialSensor_Backend.h"
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_L3G4200D(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel);
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virtual ~AP_InertialSensor_L3G4200D();
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// probe the sensor on I2C bus
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static AP_InertialSensor_Backend *probe(AP_InertialSensor &imu,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_gyro,
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev_accel);
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/* update accel and gyro state */
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bool update() override;
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void start(void) override;
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private:
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bool _accel_init();
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bool _gyro_init();
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bool _init_sensor();
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void _accumulate_gyro();
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void _accumulate_accel();
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_gyro;
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AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev_accel;
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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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LowPassFilter2pVector3f _accel_filter;
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LowPassFilter2pVector3f _gyro_filter;
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enum Rotation _rotation;
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// gyro and accel instances
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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 // __AP_INERTIAL_SENSOR_L3G4200D2_H__
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