mirror of https://github.com/ArduPilot/ardupilot
66 lines
1.8 KiB
C++
66 lines
1.8 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_PX4_H__
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#define __AP_INERTIAL_SENSOR_PX4_H__
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#include <AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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#include <drivers/drv_accel.h>
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#include <drivers/drv_gyro.h>
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#include <uORB/uORB.h>
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#include <uORB/topics/sensor_combined.h>
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class AP_InertialSensor_PX4 : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_PX4() :
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AP_InertialSensor(),
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_sample_time_usec(0)
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{
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}
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float get_delta_time();
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float get_gyro_drift_rate();
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bool wait_for_sample(uint16_t timeout_ms);
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bool healthy(void) const;
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// multi-device interface
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bool get_gyro_health(uint8_t instance) const;
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uint8_t get_gyro_count(void) const;
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bool get_accel_health(uint8_t instance) const;
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uint8_t get_accel_count(void) const;
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private:
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uint16_t _init_sensor( Sample_rate sample_rate );
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void _get_sample(void);
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bool _sample_available(void);
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Vector3f _accel_in[INS_MAX_INSTANCES];
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Vector3f _gyro_in[INS_MAX_INSTANCES];
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uint64_t _last_accel_timestamp[INS_MAX_INSTANCES];
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uint64_t _last_gyro_timestamp[INS_MAX_INSTANCES];
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uint64_t _last_sample_timestamp;
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uint32_t _sample_time_usec;
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bool _have_sample_available;
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// support for updating filter at runtime
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uint8_t _last_filter_hz;
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uint8_t _default_filter_hz;
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void _set_filter_frequency(uint8_t filter_hz);
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// accelerometer and gyro driver handles
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uint8_t _num_accel_instances;
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uint8_t _num_gyro_instances;
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int _accel_fd[INS_MAX_INSTANCES];
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int _gyro_fd[INS_MAX_INSTANCES];
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_PX4_H__
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