mirror of https://github.com/ArduPilot/ardupilot
120 lines
3.1 KiB
C++
120 lines
3.1 KiB
C++
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
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/// @file IMU.h
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/// @brief Abstract class defining the interface to a real or virtual
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/// Inertial Measurement Unit.
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#ifndef IMU_h
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#define IMU_h
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#include "../AP_Math/AP_Math.h"
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#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
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#include <inttypes.h>
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class IMU
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{
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public:
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/// Constructor
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IMU();
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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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/// 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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virtual void init( Start_style style,
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void (*delay_cb)(unsigned long t),
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AP_PeriodicProcess * scheduler );
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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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virtual void init_accel(void (*callback)(unsigned long t));
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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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virtual void init_gyro(void (*callback)(unsigned long t));
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/// Give the IMU some cycles to perform/fetch an update from its
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/// sensors.
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///
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/// @returns True if some state was updated.
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///
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virtual bool update(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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Vector3f get_gyro(void) { return _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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Vector3f get_accel(void) { return _accel; }
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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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Vector3f get_accel_filtered(void) { return _accel_filtered; }
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/// return the number of seconds that the last update represents
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///
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/// @returns number of seconds
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///
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float get_delta_time(void) { return _sample_time * 1.0e-6; }
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/// A count of bad sensor readings
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///
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/// @todo This should be renamed, as there's no guarantee that sensors
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/// are using ADCs, etc.
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///
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uint8_t adc_constraints;
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virtual float gx(void);
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virtual float gy(void);
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virtual float gz(void);
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virtual float ax(void);
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virtual float ay(void);
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virtual float az(void);
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virtual void ax(const float v);
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virtual void ay(const float v);
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virtual void az(const float v);
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protected:
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/// Most recent accelerometer reading obtained by ::update
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Vector3f _accel;
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Vector3f _accel_filtered;
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/// Most recent gyro reading obtained by ::update
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Vector3f _gyro;
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/// number of microseconds that the accel and gyro values
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/// were sampled over
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uint32_t _sample_time;
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};
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#endif
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