mirror of https://github.com/ArduPilot/ardupilot
306 lines
10 KiB
C++
306 lines
10 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_H__
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#define __AP_INERTIAL_SENSOR_H__
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// Gyro and Accelerometer calibration criteria
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#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE 4.0f
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#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET 250.0f
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/**
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maximum number of INS instances available on this platform. If more
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than 1 then redundent sensors may be available
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*/
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#if HAL_CPU_CLASS > HAL_CPU_CLASS_16
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#define INS_MAX_INSTANCES 3
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#define INS_MAX_BACKENDS 6
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#else
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#define INS_MAX_INSTANCES 1
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#define INS_MAX_BACKENDS 1
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#endif
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#include <stdint.h>
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#include <AP_HAL.h>
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#include <AP_Math.h>
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#include "AP_InertialSensor_UserInteract.h"
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class AP_InertialSensor_Backend;
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/* AP_InertialSensor is an abstraction for gyro and accel measurements
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* which are correctly aligned to the body axes and scaled to SI units.
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*
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* Gauss-Newton accel calibration routines borrowed from Rolfe Schmidt
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* blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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* original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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*/
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class AP_InertialSensor
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{
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friend class AP_InertialSensor_Backend;
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public:
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AP_InertialSensor();
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enum Start_style {
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COLD_START = 0,
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WARM_START
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};
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// the rate that updates will be available to the application
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enum Sample_rate {
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RATE_50HZ,
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RATE_100HZ,
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RATE_200HZ,
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RATE_400HZ
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};
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/// Perform startup initialisation.
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///
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/// Called to initialise the state of the IMU.
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///
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/// For COLD_START, implementations using real sensors can assume
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/// that the airframe is stationary and nominally oriented.
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///
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/// For WARM_START, no assumptions should be made about the
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/// orientation or motion of the airframe. Calibration should be
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/// as for the previous COLD_START call.
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///
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/// @param style The initialisation startup style.
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///
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void init( Start_style style,
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Sample_rate sample_rate);
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/// Perform cold startup initialisation for just the accelerometers.
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///
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/// @note This should not be called unless ::init has previously
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/// been called, as ::init may perform other work.
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///
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void init_accel();
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/// Register a new gyro/accel driver, allocating an instance
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/// number
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uint8_t register_gyro(void);
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uint8_t register_accel(void);
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#if !defined( __AVR_ATmega1280__ )
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// perform accelerometer calibration including providing user instructions
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// and feedback
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bool calibrate_accel(AP_InertialSensor_UserInteract *interact,
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float& trim_roll,
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float& trim_pitch);
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#endif
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/// calibrated - returns true if the accelerometers have been calibrated
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///
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/// @note this should not be called while flying because it reads from the eeprom which can be slow
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///
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bool calibrated();
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/// Perform cold-start initialisation for just the gyros.
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///
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/// @note This should not be called unless ::init has previously
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/// been called, as ::init may perform other work
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///
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void init_gyro(void);
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/// Fetch the current gyro values
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///
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/// @returns vector of rotational rates in radians/sec
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///
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const Vector3f &get_gyro(uint8_t i) const { return _gyro[i]; }
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const Vector3f &get_gyro(void) const { return get_gyro(_primary_gyro); }
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void set_gyro(uint8_t instance, const Vector3f &gyro);
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// set gyro offsets in radians/sec
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const Vector3f &get_gyro_offsets(uint8_t i) const { return _gyro_offset[i]; }
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const Vector3f &get_gyro_offsets(void) const { return get_gyro_offsets(_primary_gyro); }
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/// Fetch the current accelerometer values
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///
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/// @returns vector of current accelerations in m/s/s
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///
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const Vector3f &get_accel(uint8_t i) const { return _accel[i]; }
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const Vector3f &get_accel(void) const { return get_accel(_primary_accel); }
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void set_accel(uint8_t instance, const Vector3f &accel);
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uint32_t get_gyro_error_count(uint8_t i) const { return _gyro_error_count[i]; }
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uint32_t get_accel_error_count(uint8_t i) const { return _accel_error_count[i]; }
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// multi-device interface
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bool get_gyro_health(uint8_t instance) const { return _gyro_healthy[instance]; }
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bool get_gyro_health(void) const { return get_gyro_health(_primary_gyro); }
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bool get_gyro_health_all(void) const;
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uint8_t get_gyro_count(void) const { return _gyro_count; }
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bool gyro_calibrated_ok(uint8_t instance) const { return _gyro_cal_ok[instance]; }
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bool gyro_calibrated_ok_all() const;
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bool get_accel_health(uint8_t instance) const { return _accel_healthy[instance]; }
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bool get_accel_health(void) const { return get_accel_health(_primary_accel); }
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bool get_accel_health_all(void) const;
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uint8_t get_accel_count(void) const { return _accel_count; };
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// get accel offsets in m/s/s
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const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; }
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const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); }
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// get accel scale
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const Vector3f &get_accel_scale(uint8_t i) const { return _accel_scale[i]; }
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const Vector3f &get_accel_scale(void) const { return get_accel_scale(_primary_accel); }
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/* get_delta_time returns the time period in seconds
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* overwhich the sensor data was collected
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*/
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float get_delta_time() const { return _delta_time; }
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// return the maximum gyro drift rate in radians/s/s. This
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// depends on what gyro chips are being used
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float get_gyro_drift_rate(void) const { return ToRad(0.5f/60); }
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// update gyro and accel values from accumulated samples
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void update(void);
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// wait for a sample to be available
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void wait_for_sample(void);
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// class level parameters
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static const struct AP_Param::GroupInfo var_info[];
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// set overall board orientation
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void set_board_orientation(enum Rotation orientation) {
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_board_orientation = orientation;
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}
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// override default filter frequency
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void set_default_filter(float filter_hz) {
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if (!_mpu6000_filter.load()) {
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_mpu6000_filter.set(filter_hz);
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}
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}
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// get_filter - return filter in hz
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uint8_t get_filter() const { return _mpu6000_filter.get(); }
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// return the selected sample rate
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Sample_rate get_sample_rate(void) const { return _sample_rate; }
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uint16_t error_count(void) const { return 0; }
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bool healthy(void) const { return get_gyro_health() && get_accel_health(); }
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uint8_t get_primary_accel(void) const { return 0; }
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// enable HIL mode
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void set_hil_mode(void) { _hil_mode = true; }
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private:
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// load backend drivers
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void _add_backend(AP_InertialSensor_Backend *(detect)(AP_InertialSensor &));
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void _detect_backends(void);
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// accel and gyro initialisation
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void _init_accel();
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void _init_gyro();
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#if !defined( __AVR_ATmega1280__ )
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// Calibration routines borrowed from Rolfe Schmidt
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// blog post describing the method: http://chionophilous.wordpress.com/2011/10/24/accelerometer-calibration-iv-1-implementing-gauss-newton-on-an-atmega/
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// original sketch available at http://rolfeschmidt.com/mathtools/skimetrics/adxl_gn_calibration.pde
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// _calibrate_accel - perform low level accel calibration
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bool _calibrate_accel(Vector3f accel_sample[6], Vector3f& accel_offsets, Vector3f& accel_scale);
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void _calibrate_update_matrices(float dS[6], float JS[6][6], float beta[6], float data[3]);
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void _calibrate_reset_matrices(float dS[6], float JS[6][6]);
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void _calibrate_find_delta(float dS[6], float JS[6][6], float delta[6]);
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void _calculate_trim(Vector3f accel_sample, float& trim_roll, float& trim_pitch);
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#endif
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// check if we have 3D accel calibration
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void check_3D_calibration(void);
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// save parameters to eeprom
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void _save_parameters();
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// backend objects
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AP_InertialSensor_Backend *_backends[INS_MAX_BACKENDS];
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// number of gyros and accel drivers. Note that most backends
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// provide both accel and gyro data, so will increment both
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// counters on initialisation
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uint8_t _gyro_count;
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uint8_t _accel_count;
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uint8_t _backend_count;
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// the selected sample rate
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Sample_rate _sample_rate;
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// Most recent accelerometer reading
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Vector3f _accel[INS_MAX_INSTANCES];
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// Most recent gyro reading
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Vector3f _gyro[INS_MAX_INSTANCES];
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// product id
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AP_Int16 _product_id;
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// accelerometer scaling and offsets
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AP_Vector3f _accel_scale[INS_MAX_INSTANCES];
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AP_Vector3f _accel_offset[INS_MAX_INSTANCES];
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AP_Vector3f _gyro_offset[INS_MAX_INSTANCES];
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// filtering frequency (0 means default)
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AP_Int8 _mpu6000_filter;
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// board orientation from AHRS
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enum Rotation _board_orientation;
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// calibrated_ok flags
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bool _gyro_cal_ok[INS_MAX_INSTANCES];
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// primary accel and gyro
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uint8_t _primary_gyro;
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uint8_t _primary_accel;
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// has wait_for_sample() found a sample?
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bool _have_sample:1;
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// are we in HIL mode?
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bool _hil_mode:1;
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// do we have offsets/scaling from a 3D calibration?
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bool _have_3D_calibration:1;
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// the delta time in seconds for the last sample
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float _delta_time;
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// last time a wait_for_sample() returned a sample
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uint32_t _last_sample_usec;
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// target time for next wait_for_sample() return
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uint32_t _next_sample_usec;
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// time between samples in microseconds
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uint32_t _sample_period_usec;
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// health of gyros and accels
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bool _gyro_healthy[INS_MAX_INSTANCES];
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bool _accel_healthy[INS_MAX_INSTANCES];
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uint32_t _accel_error_count[INS_MAX_INSTANCES];
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uint32_t _gyro_error_count[INS_MAX_INSTANCES];
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};
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#include "AP_InertialSensor_Backend.h"
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#include "AP_InertialSensor_MPU6000.h"
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#include "AP_InertialSensor_PX4.h"
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#include "AP_InertialSensor_Oilpan.h"
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#include "AP_InertialSensor_MPU9250.h"
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#include "AP_InertialSensor_L3G4200D.h"
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#include "AP_InertialSensor_Flymaple.h"
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#include "AP_InertialSensor_MPU9150.h"
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#include "AP_InertialSensor_HIL.h"
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#include "AP_InertialSensor_UserInteract_Stream.h"
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#include "AP_InertialSensor_UserInteract_MAVLink.h"
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#endif // __AP_INERTIAL_SENSOR_H__
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