36 lines
840 B
C++
36 lines
840 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__
|
|
#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__
|
|
|
|
#include <AP_HAL/AP_HAL.h>
|
|
#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE
|
|
|
|
#include "AP_InertialSensor.h"
|
|
#include <Filter/Filter.h>
|
|
#include <Filter/LowPassFilter2p.h>
|
|
|
|
class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend
|
|
{
|
|
public:
|
|
AP_InertialSensor_Flymaple(AP_InertialSensor &imu);
|
|
|
|
/* update accel and gyro state */
|
|
bool update();
|
|
|
|
// accumulate samples
|
|
void accumulate(void) override;
|
|
|
|
// detect the sensor
|
|
static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
|
|
|
|
private:
|
|
bool _init_sensor(void);
|
|
|
|
uint8_t _gyro_instance;
|
|
uint8_t _accel_instance;
|
|
};
|
|
|
|
#endif
|
|
#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__
|