mirror of https://github.com/ArduPilot/ardupilot
62 lines
1.3 KiB
C++
62 lines
1.3 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
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#define __AP_INERTIAL_SENSOR_OILPAN_H__
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#include <string.h>
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#include <stdint.h>
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#include "../AP_ADC/AP_ADC.h"
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#include "../AP_Math/AP_Math.h"
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_Oilpan : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_Oilpan( AP_ADC * adc );
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/* Concrete implementation of AP_InertialSensor functions: */
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void init(AP_PeriodicProcess * scheduler);
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bool update();
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float gx();
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float gy();
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float gz();
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void get_gyros( float * );
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float ax();
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float ay();
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float az();
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void get_accels( float * );
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void get_sensors( float * );
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float temperature();
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uint32_t sample_time();
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void reset_sample_time();
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private:
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AP_ADC *_adc;
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Vector3f _gyro;
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Vector3f _accel;
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float _temp;
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uint32_t _sample_time;
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static const uint8_t _sensors[6];
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static const int8_t _sensor_signs[6];
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static const uint8_t _gyro_temp_ch;
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static const float _gravity;
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static const float _accel_scale;
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static const float _gyro_gain_x;
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static const float _gyro_gain_y;
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static const float _gyro_gain_z;
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static const float _adc_constraint;
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float _gyro_apply_std_offset( uint16_t adc_value );
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float _accel_apply_std_offset( uint16_t adc_value );
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};
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#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
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