ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_L3G4200D.h

54 lines
1.6 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__
#define __AP_INERTIAL_SENSOR_L3G4200D_H__
#include <AP_HAL.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX || CONFIG_HAL_BOARD == HAL_BOARD_ERLE
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
#include <Filter.h>
#include <LowPassFilter2p.h>
class AP_InertialSensor_L3G4200D : public AP_InertialSensor
{
public:
AP_InertialSensor_L3G4200D();
/* Concrete 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;
uint32_t _last_sample_time;
volatile uint32_t _gyro_samples_available;
volatile uint8_t _gyro_samples_needed;
// support for updating filter at runtime
uint8_t _last_filter_hz;
uint8_t _default_filter_hz;
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;
};
#endif
#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__