mirror of https://github.com/ArduPilot/ardupilot
131 lines
3.2 KiB
C++
131 lines
3.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "AP_InertialSensor_HIL.h"
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#include <AP_HAL.h>
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_HIL::AP_InertialSensor_HIL() :
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AP_InertialSensor(),
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_sample_period_usec(0),
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_last_sample_usec(0)
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{
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_accel[0] = Vector3f(0, 0, -GRAVITY_MSS);
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}
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uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
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switch (sample_rate) {
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case RATE_50HZ:
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_sample_period_usec = 20000;
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break;
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case RATE_100HZ:
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_sample_period_usec = 10000;
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break;
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case RATE_200HZ:
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_sample_period_usec = 5000;
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break;
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case RATE_400HZ:
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_sample_period_usec = 2500;
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break;
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}
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return AP_PRODUCT_ID_NONE;
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}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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bool AP_InertialSensor_HIL::update( void ) {
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uint32_t now = hal.scheduler->micros();
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_last_sample_usec = now;
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return true;
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}
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float AP_InertialSensor_HIL::get_delta_time() const {
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return _sample_period_usec * 1.0e-6f;
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}
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float AP_InertialSensor_HIL::get_gyro_drift_rate(void) {
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// 0.5 degrees/second/minute
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return ToRad(0.5/60);
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}
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bool AP_InertialSensor_HIL::_sample_available()
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{
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uint32_t tnow = hal.scheduler->micros();
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bool have_sample = false;
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while (tnow - _last_sample_usec > _sample_period_usec) {
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have_sample = true;
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_last_sample_usec += _sample_period_usec;
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}
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return have_sample;
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}
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bool AP_InertialSensor_HIL::wait_for_sample(uint16_t timeout_ms)
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{
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if (_sample_available()) {
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return true;
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}
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uint32_t start = hal.scheduler->micros();
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while ((hal.scheduler->millis() - start) < timeout_ms) {
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uint32_t tnow = hal.scheduler->micros();
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uint32_t tdelay = (_last_sample_usec + _sample_period_usec) - tnow;
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if (tdelay < 100000) {
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hal.scheduler->delay_microseconds(tdelay);
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}
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if (_sample_available()) {
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return true;
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}
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}
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return false;
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}
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void AP_InertialSensor_HIL::set_accel(uint8_t instance, const Vector3f &accel)
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{
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if (instance >= INS_MAX_INSTANCES) {
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return;
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}
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_previous_accel[instance] = _accel[instance];
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_accel[instance] = accel;
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_last_accel_usec[instance] = hal.scheduler->micros();
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}
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void AP_InertialSensor_HIL::set_gyro(uint8_t instance, const Vector3f &gyro)
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{
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if (instance >= INS_MAX_INSTANCES) {
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return;
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}
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_gyro[instance] = gyro;
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_last_gyro_usec[instance] = hal.scheduler->micros();
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}
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bool AP_InertialSensor_HIL::get_gyro_health(uint8_t instance) const
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{
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if (instance >= INS_MAX_INSTANCES) {
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return false;
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}
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return (hal.scheduler->micros() - _last_gyro_usec[instance]) < 40000;
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}
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bool AP_InertialSensor_HIL::get_accel_health(uint8_t instance) const
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{
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if (instance >= INS_MAX_INSTANCES) {
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return false;
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}
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return (hal.scheduler->micros() - _last_accel_usec[instance]) < 40000;
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}
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uint8_t AP_InertialSensor_HIL::get_gyro_count(void) const
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{
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if (get_gyro_health(1)) {
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return 2;
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}
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return 1;
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}
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uint8_t AP_InertialSensor_HIL::get_accel_count(void) const
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{
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if (get_accel_health(1)) {
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return 2;
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}
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return 1;
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}
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