mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_BARO_H__
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#define __AP_BARO_H__
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#include <AP_Param.h>
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#include <Filter.h>
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#include <DerivativeFilter.h>
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class AP_Baro
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{
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public:
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bool healthy;
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AP_Baro() {
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AP_Param::setup_object_defaults(this, var_info);
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}
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virtual bool init()=0;
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virtual uint8_t read() = 0;
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// pressure in Pascal. Divide by 100 for millibars or hectopascals
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virtual float get_pressure() = 0;
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// temperature in degrees C
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virtual float get_temperature() = 0;
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// accumulate a reading - overridden in some drivers
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virtual void accumulate(void) {}
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// calibrate the barometer. This must be called on startup if the
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// altitude/climb_rate/acceleration interfaces are ever used
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// the callback is a delay() like routine
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void calibrate();
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// update the barometer calibration to the current pressure. Can
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// be used for incremental preflight update of baro
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void update_calibration();
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// get current altitude in meters relative to altitude at the time
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// of the last calibrate() call
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float get_altitude(void);
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// get scale factor required to convert equivalent to true airspeed
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float get_EAS2TAS(void);
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// return how many pressure samples were used to obtain
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// the last pressure reading
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uint8_t get_pressure_samples(void) {
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return _pressure_samples;
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}
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// get current climb rate in meters/s. A positive number means
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// going up
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float get_climb_rate(void);
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// ground temperature in degrees C
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// the ground values are only valid after calibration
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float get_ground_temperature(void) {
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return _ground_temperature.get();
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}
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// ground pressure in Pascal
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// the ground values are only valid after calibration
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float get_ground_pressure(void) {
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return _ground_pressure.get();
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}
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// get last time sample was taken (in ms)
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uint32_t get_last_update() { return _last_update; };
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static const struct AP_Param::GroupInfo var_info[];
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protected:
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uint32_t _last_update; // in ms
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uint8_t _pressure_samples;
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private:
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AP_Float _ground_temperature;
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AP_Float _ground_pressure;
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AP_Int8 _alt_offset;
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float _altitude;
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float _last_altitude_EAS2TAS;
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float _EAS2TAS;
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uint32_t _last_altitude_t;
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DerivativeFilterFloat_Size7 _climb_rate_filter;
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};
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#include "AP_Baro_MS5611.h"
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#include "AP_Baro_BMP085.h"
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#include "AP_Baro_HIL.h"
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#include "AP_Baro_PX4.h"
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#endif // __AP_BARO_H__
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