mirror of https://github.com/ArduPilot/ardupilot
93 lines
3.0 KiB
C++
93 lines
3.0 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/AP_HAL.h>
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
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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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#include <Filter/Filter.h>
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#include <Filter/LowPassFilter2p.h>
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class AP_InertialSensor_PX4 : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_PX4(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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bool gyro_sample_available(void);
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bool accel_sample_available(void);
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private:
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bool _init_sensor(void);
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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_accel_update_timestamp[INS_MAX_INSTANCES];
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uint64_t _last_gyro_update_timestamp[INS_MAX_INSTANCES];
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float _accel_sample_time[INS_MAX_INSTANCES];
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float _gyro_sample_time[INS_MAX_INSTANCES];
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uint64_t _last_get_sample_timestamp;
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uint64_t _last_sample_timestamp;
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void _new_accel_sample(uint8_t i, accel_report &accel_report);
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void _new_gyro_sample(uint8_t i, gyro_report &gyro_report);
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bool _get_gyro_sample(uint8_t i, struct gyro_report &gyro_report);
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bool _get_accel_sample(uint8_t i, struct accel_report &accel_report);
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// calculate right queue depth for a sensor
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uint8_t _queue_depth(uint16_t sensor_sample_rate) const;
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// support for updating filter at runtime (-1 means unset)
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int8_t _last_gyro_filter_hz;
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int8_t _last_accel_filter_hz;
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void _set_gyro_filter_frequency(uint8_t filter_hz);
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void _set_accel_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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// indexes in frontend object. Note that these could be different
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// from the backend indexes
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uint8_t _accel_instance[INS_MAX_INSTANCES];
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uint8_t _gyro_instance[INS_MAX_INSTANCES];
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// Low Pass filters for gyro and accel
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LowPassFilter2pVector3f _accel_filter[INS_MAX_INSTANCES];
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LowPassFilter2pVector3f _gyro_filter[INS_MAX_INSTANCES];
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#ifdef AP_INERTIALSENSOR_PX4_DEBUG
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uint32_t _gyro_meas_count[INS_MAX_INSTANCES];
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uint32_t _accel_meas_count[INS_MAX_INSTANCES];
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uint32_t _gyro_meas_count_start_us[INS_MAX_INSTANCES];
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uint32_t _accel_meas_count_start_us[INS_MAX_INSTANCES];
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float _gyro_dt_max[INS_MAX_INSTANCES];
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float _accel_dt_max[INS_MAX_INSTANCES];
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#endif // AP_INERTIALSENSOR_PX4_DEBUG
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};
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#endif // CONFIG_HAL_BOARD
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#endif // __AP_INERTIAL_SENSOR_PX4_H__
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