mirror of https://github.com/ArduPilot/ardupilot
79 lines
1.6 KiB
C++
79 lines
1.6 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 <string.h>
|
|
#include <stdint.h>
|
|
|
|
#include "../AP_ADC/AP_ADC.h"
|
|
#include "../AP_Math/AP_Math.h"
|
|
#include "AP_InertialSensor.h"
|
|
|
|
class AP_InertialSensor_Oilpan : public AP_InertialSensor
|
|
{
|
|
public:
|
|
|
|
AP_InertialSensor_Oilpan( AP_ADC * adc );
|
|
|
|
/* Concrete implementation of AP_InertialSensor functions: */
|
|
uint16_t init(AP_PeriodicProcess * scheduler);
|
|
bool update();
|
|
bool new_data_available();
|
|
float gx();
|
|
float gy();
|
|
float gz();
|
|
void get_gyros( float * );
|
|
float ax();
|
|
float ay();
|
|
float az();
|
|
void get_accels( float * );
|
|
void get_sensors( float * );
|
|
float temperature();
|
|
uint32_t sample_time();
|
|
void reset_sample_time();
|
|
float get_gyro_drift_rate();
|
|
|
|
static const struct AP_Param::GroupInfo var_info[];
|
|
|
|
AP_Int16 _x_high;
|
|
AP_Int16 _x_low;
|
|
AP_Int16 _y_high;
|
|
AP_Int16 _y_low;
|
|
AP_Int16 _z_high;
|
|
AP_Int16 _z_low;
|
|
|
|
Vector3f _accel_scale;
|
|
|
|
private:
|
|
Vector3f _gyro;
|
|
Vector3f _accel;
|
|
|
|
Vector3f _accel_high;
|
|
Vector3f _accel_low;
|
|
Vector3f _accel_mid;
|
|
|
|
AP_ADC *_adc;
|
|
|
|
float _temp;
|
|
|
|
uint32_t _sample_time;
|
|
|
|
static const uint8_t _sensors[6];
|
|
static const int8_t _sensor_signs[6];
|
|
static const uint8_t _gyro_temp_ch;
|
|
|
|
static const float _gravity;
|
|
|
|
static const float _gyro_gain_x;
|
|
static const float _gyro_gain_y;
|
|
static const float _gyro_gain_z;
|
|
|
|
static const float _adc_constraint;
|
|
|
|
float _gyro_apply_std_offset( float adc_value );
|
|
float _accel_apply_std_offset( float adc_value );
|
|
};
|
|
|
|
#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
|