ardupilot/libraries/AP_Airspeed/AP_Airspeed_DLVR.h

73 lines
2.1 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
// backend driver for AllSensors DLVR differential airspeed sensor
// currently assumes a 5" of water, noise reduced, sensor
#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_AIRSPEED_DLVR_ENABLED
#define AP_AIRSPEED_DLVR_ENABLED AP_AIRSPEED_BACKEND_DEFAULT_ENABLED
#endif
#if AP_AIRSPEED_DLVR_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_HAL/utility/OwnPtr.h>
#include <AP_HAL/I2CDevice.h>
#include <utility>
#include "AP_Airspeed_Backend.h"
class AP_Airspeed_DLVR : public AP_Airspeed_Backend
{
public:
AP_Airspeed_DLVR(AP_Airspeed &frontend, uint8_t _instance, const float _range_inH2O);
static AP_Airspeed_Backend *probe(AP_Airspeed &frontend, uint8_t _instance, AP_HAL::OwnPtr<AP_HAL::I2CDevice> _dev, const float _range_inH2O);
~AP_Airspeed_DLVR(void) {}
// probe and initialise the sensor
bool init() override;
// return the current differential_pressure in Pascal
bool get_differential_pressure(float &pressure) override;
// return the current temperature in degrees C, if available
bool get_temperature(float &temperature) override;
private:
void timer();
float pressure;
float temperature;
float temperature_sum;
float pressure_sum;
uint32_t temp_count;
uint32_t press_count;
uint32_t last_sample_time_ms;
const float range_inH2O;
// initialise the sensor
void setup();
AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev;
};
#endif // AP_AIRSPEED_DLVR_ENABLED