mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 23:18:28 -04:00
db8708911a
this abstracts the way of getting inertial sensor (gyro and accelerometer) data for the APM1 and purple hardware. The Oilpan code is based closely on the old APM1 code
62 lines
1.7 KiB
C++
62 lines
1.7 KiB
C++
|
|
#ifndef __AP_INERTIAL_SENSOR_H__
|
|
#define __AP_INERTIAL_SENSOR_H__
|
|
|
|
#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
|
|
|
|
/* AP_InertialSensor is an abstraction for gyro and accel measurements
|
|
* which are correctly aligned to the body axes and scaled to SI units.
|
|
*/
|
|
class AP_InertialSensor
|
|
{
|
|
public:
|
|
AP_InertialSensor() {}
|
|
|
|
virtual void init( AP_PeriodicProcess * scheduler );
|
|
|
|
/* Update the sensor data, so that getters are nonblocking.
|
|
* Returns a bool of whether data was updated or not.
|
|
*/
|
|
virtual bool update() = 0;
|
|
|
|
/* Getters for individual gyro axes.
|
|
* Gyros have correct coordinate frame and units (degrees per second).
|
|
*/
|
|
virtual float gx() = 0;
|
|
virtual float gy() = 0;
|
|
virtual float gz() = 0;
|
|
|
|
/* Same data as above gyro getters, written to array as { gx, gy, gz } */
|
|
virtual void get_gyros( float * ) = 0;
|
|
|
|
/* Getters for individual accel axes.
|
|
* Accels have correct coordinate frame ( flat level ax, ay = 0; az = -9.81)
|
|
* and units (meters per second squared).
|
|
*/
|
|
virtual float ax() = 0;
|
|
virtual float ay() = 0;
|
|
virtual float az() = 0;
|
|
|
|
/* Same data as above accel getters, written to array as { ax, ay, az } */
|
|
virtual void get_accels( float * ) = 0;
|
|
|
|
/* Same data as above accel and gyro getters, written to array as
|
|
* { gx, gy, gz, ax, ay, az }
|
|
*/
|
|
virtual void get_sensors( float * ) = 0;
|
|
|
|
/* Temperature, in degrees celsius, of the gyro. */
|
|
virtual float temperature() = 0;
|
|
|
|
/* sample_time returns the delta in microseconds since the
|
|
* last call to reset_sample_time.
|
|
*/
|
|
virtual uint32_t sample_time() = 0;
|
|
virtual void reset_sample_time() = 0;
|
|
};
|
|
|
|
#include "AP_InertialSensor_Oilpan.h"
|
|
#include "AP_InertialSensor_MPU6000.h"
|
|
|
|
#endif // __AP_INERTIAL_SENSOR_H__
|