mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 14:38:30 -04:00
291369db7f
this gives us separate backends for PX4, analog and I2C. This allows the MS airspeed sensor to work on Linux, and it should work on APM2 as well.
55 lines
1.5 KiB
C++
55 lines
1.5 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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backend driver for airspeed from I2C
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*/
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#ifndef __AP_AIRSPEED_I2C_H__
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#define __AP_AIRSPEED_I2C_H__
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#include <AP_Common.h>
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#include <AP_HAL.h>
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class AP_Airspeed_I2C_PX4 : AP_Airspeed_I2C {
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public:
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// constructor
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AP_Airspeed_I2C();
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// probe and initialise the sensor
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bool init(void);
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// return the current differential_pressure in Pascal
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bool get_differential_pressure(float &pressure);
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// return the current temperature in degrees C, if available
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bool get_temperature(float &temperature);
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private:
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void _measure(void);
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void _collect(void);
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void _timer(void);
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float _temperature;
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float _pressure;
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uint32_t _last_sample_time_ms;
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uint32_t _measurement_started_ms;
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};
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#endif // __AP_AIRSPEED_I2C_H__
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