mirror of https://github.com/ArduPilot/ardupilot
56 lines
1.6 KiB
C++
56 lines
1.6 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__
|
|
#define __AP_INERTIAL_SENSOR_L3G4200D_H__
|
|
|
|
#include <AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
|
|
|
|
#include <AP_Progmem.h>
|
|
#include "AP_InertialSensor.h"
|
|
#include <Filter.h>
|
|
#include <LowPassFilter2p.h>
|
|
|
|
class AP_InertialSensor_L3G4200D : public AP_InertialSensor
|
|
{
|
|
public:
|
|
|
|
AP_InertialSensor_L3G4200D();
|
|
|
|
/* Concrete implementation of AP_InertialSensor functions: */
|
|
bool update();
|
|
float get_delta_time() const;
|
|
float get_gyro_drift_rate();
|
|
bool wait_for_sample(uint16_t timeout_ms);
|
|
|
|
private:
|
|
uint16_t _init_sensor( Sample_rate sample_rate );
|
|
void _accumulate(void);
|
|
bool _sample_available();
|
|
uint64_t _last_update_usec;
|
|
Vector3f _accel_filtered;
|
|
Vector3f _gyro_filtered;
|
|
uint32_t _sample_period_usec;
|
|
uint32_t _last_sample_time;
|
|
volatile uint32_t _gyro_samples_available;
|
|
volatile uint8_t _gyro_samples_needed;
|
|
float _delta_time;
|
|
struct timespec _next_sample_ts;
|
|
|
|
// support for updating filter at runtime
|
|
uint8_t _last_filter_hz;
|
|
uint8_t _default_filter_hz;
|
|
|
|
void _set_filter_frequency(uint8_t filter_hz);
|
|
|
|
// Low Pass filters for gyro and accel
|
|
LowPassFilter2p _accel_filter_x;
|
|
LowPassFilter2p _accel_filter_y;
|
|
LowPassFilter2p _accel_filter_z;
|
|
LowPassFilter2p _gyro_filter_x;
|
|
LowPassFilter2p _gyro_filter_y;
|
|
LowPassFilter2p _gyro_filter_z;
|
|
};
|
|
#endif
|
|
#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__
|