mirror of https://github.com/ArduPilot/ardupilot
42 lines
1.2 KiB
C++
42 lines
1.2 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
#pragma once
|
|
|
|
#include "AP_RPM.h"
|
|
#include "RPM_Backend.h"
|
|
#include <Filter/Filter.h>
|
|
#include <AP_Math/AP_Math.h>
|
|
|
|
class AP_RPM_PX4_PWM : public AP_RPM_Backend
|
|
{
|
|
public:
|
|
// constructor
|
|
AP_RPM_PX4_PWM(AP_RPM &ranger, uint8_t instance, AP_RPM::RPM_State &_state);
|
|
|
|
// destructor
|
|
~AP_RPM_PX4_PWM(void);
|
|
|
|
// update state
|
|
void update(void);
|
|
|
|
private:
|
|
int _fd = -1;
|
|
int _logfd = -1;
|
|
uint64_t _last_timestamp = 0;
|
|
uint32_t _resolution_usec = 1;
|
|
|
|
ModeFilterFloat_Size5 signal_quality_filter {3};
|
|
};
|