ardupilot/libraries/AP_Baro/AP_Baro_Backend.h

43 lines
1.3 KiB
C++

#pragma once
#include "AP_Baro.h"
#include <AP_Common/Semaphore.h>
class AP_Baro_Backend
{
public:
AP_Baro_Backend(AP_Baro &baro);
virtual ~AP_Baro_Backend(void) {};
// each driver must provide an update method to copy accumulated
// data to the frontend
virtual void update() = 0;
// accumulate function. This is used for backends that don't use a
// timer, and need to be called regularly by the main code to
// trigger them to read the sensor
virtual void accumulate(void) {}
void backend_update(uint8_t instance);
// Check that the baro valid by using a mean filter.
// If the value further that filtrer_range from mean value, it is rejected.
bool pressure_ok(float press);
uint32_t get_error_count() const { return _error_count; }
protected:
// reference to frontend object
AP_Baro &_frontend;
void _copy_to_frontend(uint8_t instance, float pressure, float temperature);
// semaphore for access to shared frontend data
HAL_Semaphore _sem;
virtual void update_healthy_flag(uint8_t instance);
// mean pressure for range filter
float _mean_pressure;
// number of dropped samples. Not used for now, but can be usable to choose more reliable sensor
uint32_t _error_count;
};