ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_PX4.h

54 lines
1.4 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_PX4_H__
#define __AP_INERTIAL_SENSOR_PX4_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#include <drivers/drv_accel.h>
#include <drivers/drv_gyro.h>
#include <uORB/uORB.h>
#include <uORB/topics/sensor_combined.h>
class AP_InertialSensor_PX4 : public AP_InertialSensor
{
public:
AP_InertialSensor_PX4() : AP_InertialSensor() {}
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
float get_delta_time();
float get_gyro_drift_rate();
bool sample_available();
bool wait_for_sample(uint16_t timeout_ms);
private:
uint16_t _init_sensor( Sample_rate sample_rate );
void _get_sample(void);
uint64_t _last_update_usec;
float _delta_time;
Vector3f _accel_in;
Vector3f _gyro_in;
uint64_t _last_accel_timestamp;
uint64_t _last_gyro_timestamp;
uint64_t _last_sample_timestamp;
bool _have_sample_available;
uint32_t _sample_time_usec;
// support for updating filter at runtime
uint8_t _last_filter_hz;
uint8_t _default_filter_hz;
void _set_filter_frequency(uint8_t filter_hz);
// accelerometer and gyro driver handles
int _accel_fd;
int _gyro_fd;
};
#endif
#endif // __AP_INERTIAL_SENSOR_PX4_H__