mirror of https://github.com/ArduPilot/ardupilot
38 lines
1.2 KiB
C++
38 lines
1.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__
|
|
#define __AP_INERTIAL_SENSOR_OILPAN_H__
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#include "AP_InertialSensor.h"
|
|
|
|
class AP_InertialSensor_Oilpan : public AP_InertialSensor_Backend
|
|
{
|
|
public:
|
|
AP_InertialSensor_Oilpan(AP_InertialSensor &imu);
|
|
|
|
/* update accel and gyro state */
|
|
bool update();
|
|
|
|
bool gyro_sample_available(void) { return _sample_available(); }
|
|
bool accel_sample_available(void) { return _sample_available(); }
|
|
|
|
// detect the sensor
|
|
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
|
|
|
|
private:
|
|
bool _init_sensor(void);
|
|
bool _sample_available() const;
|
|
static const uint8_t _sensors[6];
|
|
static const int8_t _sensor_signs[6];
|
|
static const float _gyro_gain_x;
|
|
static const float _gyro_gain_y;
|
|
static const float _gyro_gain_z;
|
|
static const float _adc_constraint;
|
|
uint8_t _sample_threshold;
|
|
uint8_t _gyro_instance;
|
|
uint8_t _accel_instance;
|
|
};
|
|
|
|
#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
|