ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h

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.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__