mirror of https://github.com/ArduPilot/ardupilot
30 lines
581 B
C++
30 lines
581 B
C++
/*
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MSP backend barometer
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*/
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#pragma once
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#include "AP_Baro_Backend.h"
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// AP_BARO_MSP_ENABLED is defined in AP_Baro.h
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#if AP_BARO_MSP_ENABLED
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#define MOVING_AVERAGE_WEIGHT 0.20f // a 5 samples moving average
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class AP_Baro_MSP : public AP_Baro_Backend
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{
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public:
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AP_Baro_MSP(AP_Baro &baro, uint8_t msp_instance);
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void update(void) override;
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void handle_msp(const MSP::msp_baro_data_message_t &pkt) override;
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private:
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uint8_t instance;
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uint8_t msp_instance;
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float sum_pressure;
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float sum_temp;
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uint16_t count;
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};
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#endif // AP_BARO_MSP_ENABLED
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