mirror of https://github.com/ArduPilot/ardupilot
51 lines
1.4 KiB
C++
51 lines
1.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
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#include "AP_InertialSensor.h"
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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_Flymaple(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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bool gyro_sample_available(void) { _accumulate(); return _have_gyro_sample; }
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bool accel_sample_available(void) { _accumulate(); return _have_accel_sample; }
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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private:
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bool _init_sensor(void);
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void _accumulate(void);
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Vector3f _accel_filtered;
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Vector3f _gyro_filtered;
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bool _have_gyro_sample;
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bool _have_accel_sample;
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// support for updating filter at runtime
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uint8_t _last_filter_hz;
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void _set_filter_frequency(uint8_t filter_hz);
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// Low Pass filters for gyro and accel
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LowPassFilter2pVector3f _accel_filter;
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LowPassFilter2pVector3f _gyro_filter;
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uint8_t _gyro_instance;
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uint8_t _accel_instance;
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uint32_t _last_gyro_timestamp;
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uint32_t _last_accel_timestamp;
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};
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#endif
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#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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