#include <AP_IMU_Oilpan.h>
Inherits IMU.
Public Member Functions | |
AP_IMU_Oilpan (AP_ADC *adc, uint16_t address) | |
virtual void | init (Start_style style=COLD_START) |
virtual void | init_accel (Start_style style=COLD_START) |
virtual void | init_gyro (Start_style style=COLD_START) |
virtual bool | update (void) |
void | zero_accel (void) |
void | print_accel_offsets (void) |
XXX debug hack. | |
void | print_gyro_offsets (void) |
XXX debug hack. | |
void | ax (const int v) |
void | ay (const int v) |
void | az (const int v) |
Definition at line 15 of file AP_IMU_Oilpan.h.
AP_IMU_Oilpan::AP_IMU_Oilpan | ( | AP_ADC * | adc, | |
uint16_t | address | |||
) | [inline] |
Definition at line 19 of file AP_IMU_Oilpan.h.
void AP_IMU_Oilpan::ax | ( | const int | v | ) | [inline] |
Definition at line 35 of file AP_IMU_Oilpan.h.
void AP_IMU_Oilpan::ay | ( | const int | v | ) | [inline] |
Definition at line 36 of file AP_IMU_Oilpan.h.
void AP_IMU_Oilpan::az | ( | const int | v | ) | [inline] |
Definition at line 37 of file AP_IMU_Oilpan.h.
void AP_IMU_Oilpan::init | ( | Start_style | style = COLD_START |
) | [virtual] |
Perform startup initialisation.
Called to initialise the state of the IMU.
For COLD_START, implementations using real sensors can assume that the airframe is stationary and nominally oriented.
For WARM_START, no assumptions should be made about the orientation or motion of the airframe. Calibration should be as for the previous COLD_START call.
style | The initialisation startup style. |
Implements IMU.
Definition at line 56 of file AP_IMU_Oilpan.cpp.
void AP_IMU_Oilpan::init_accel | ( | Start_style | style = COLD_START |
) | [virtual] |
Perform startup initialisation for just the accelerometers.
style | The initialisation startup style. |
Implements IMU.
Definition at line 133 of file AP_IMU_Oilpan.cpp.
void AP_IMU_Oilpan::init_gyro | ( | Start_style | style = COLD_START |
) | [virtual] |
Perform cold-start initialisation for just the gyros.
style | The initialisation startup style. |
Implements IMU.
Definition at line 65 of file AP_IMU_Oilpan.cpp.
void AP_IMU_Oilpan::print_accel_offsets | ( | void | ) |
XXX debug hack.
Definition at line 330 of file AP_IMU_Oilpan.cpp.
void AP_IMU_Oilpan::print_gyro_offsets | ( | void | ) |
XXX debug hack.
Definition at line 341 of file AP_IMU_Oilpan.cpp.
bool AP_IMU_Oilpan::update | ( | void | ) | [virtual] |
Give the IMU some cycles to perform/fetch an update from its sensors.
Implements IMU.
Definition at line 279 of file AP_IMU_Oilpan.cpp.
void AP_IMU_Oilpan::zero_accel | ( | void | ) |
Definition at line 196 of file AP_IMU_Oilpan.cpp.