ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_MPU9150.h

73 lines
2.3 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_MPU9150_H__
#define __AP_INERTIAL_SENSOR_MPU9150_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#include <Filter.h>
#include <LowPassFilter2p.h>
class AP_InertialSensor_MPU9150 : public AP_InertialSensor
{
public:
AP_InertialSensor_MPU9150();
/* Implementation of AP_InertialSensor functions: */
bool update();
float get_delta_time() const;
float get_gyro_drift_rate();
bool wait_for_sample(uint16_t timeout_ms);
private:
uint16_t _init_sensor( Sample_rate sample_rate );
void _accumulate(void);
bool _sample_available();
// uint64_t _last_update_usec;
Vector3f _accel_filtered;
Vector3f _gyro_filtered;
uint32_t _sample_period_usec;
volatile uint32_t _gyro_samples_available;
uint64_t _last_sample_timestamp;
bool _have_sample_available;
// // support for updating filter at runtime
uint8_t _last_filter_hz;
uint8_t _default_filter_hz;
int16_t mpu_set_gyro_fsr(uint16_t fsr);
int16_t mpu_set_accel_fsr(uint8_t fsr);
int16_t mpu_set_lpf(uint16_t lpf);
int16_t mpu_set_sample_rate(uint16_t rate);
int16_t mpu_set_compass_sample_rate(uint16_t rate, uint16_t chip_sample_rate);
int16_t mpu_configure_fifo(uint8_t sensors);
int16_t set_int_enable(uint8_t enable);
int16_t mpu_reset_fifo(uint8_t sensors);
int16_t mpu_set_sensors(uint8_t sensors);
int16_t mpu_set_int_latched(uint8_t enable);
int16_t mpu_read_fifo(int16_t *gyro, int16_t *accel, uint32_t timestamp, uint8_t *sensors, uint8_t *more);
// Filter (specify which one)
void _set_filter_frequency(uint8_t filter_hz);
// Low Pass filters for gyro and accel
LowPassFilter2p _accel_filter_x;
LowPassFilter2p _accel_filter_y;
LowPassFilter2p _accel_filter_z;
LowPassFilter2p _gyro_filter_x;
LowPassFilter2p _gyro_filter_y;
LowPassFilter2p _gyro_filter_z;
// LowPassFilter2p _mag_filter_x;
// LowPassFilter2p _mag_filter_y;
// LowPassFilter2p _mag_filter_z;
};
#endif
#endif // __AP_INERTIAL_SENSOR_MPU9150_H__