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uncrustify libraries/AP_IMU/IMU.h

mission-4.1.18
uncrustify 13 years ago committed by Pat Hickey
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1 changed files with 106 additions and 100 deletions
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  1. 206
      libraries/AP_IMU/IMU.h

206
libraries/AP_IMU/IMU.h
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@ -15,113 +15,119 @@ class IMU @@ -15,113 +15,119 @@ class IMU
{
public:
/// Constructor
IMU();
enum Start_style {
COLD_START = 0,
WARM_START
};
/// 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.
///
/// @param style The initialisation startup style.
///
virtual void init( Start_style style,
void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler );
/// Perform cold startup initialisation for just the accelerometers.
///
/// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work.
///
virtual void init_accel(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Perform cold-start initialisation for just the gyros.
///
/// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work
///
virtual void init_gyro(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Give the IMU some cycles to perform/fetch an update from its
/// sensors.
///
/// @returns True if some state was updated.
///
virtual bool update(void);
// true if new data is available from the sensors
virtual bool new_data_available(void);
/// Fetch the current gyro values
///
/// @returns vector of rotational rates in radians/sec
///
Vector3f get_gyro(void) { return _gyro; }
/// Fetch the current accelerometer values
///
/// @returns vector of current accelerations in m/s/s
///
Vector3f get_accel(void) { return _accel; }
/// return the number of seconds that the last update represents
///
/// @returns number of seconds
///
float get_delta_time(void) { return _sample_time * 1.0e-6; }
/// return the maximum gyro drift rate in radians/s/s. This
/// depends on what gyro chips are being used
virtual float get_gyro_drift_rate(void);
/// A count of bad sensor readings
///
/// @todo This should be renamed, as there's no guarantee that sensors
/// are using ADCs, etc.
///
uint8_t adc_constraints;
virtual float gx(void);
virtual float gy(void);
virtual float gz(void);
virtual float ax(void);
virtual float ay(void);
virtual float az(void);
virtual void ax(const float v);
virtual void ay(const float v);
virtual void az(const float v);
static const struct AP_Param::GroupInfo var_info[];
/// Constructor
IMU();
enum Start_style {
COLD_START = 0,
WARM_START
};
/// 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.
///
/// @param style The initialisation startup style.
///
virtual void init( Start_style style,
void (*delay_cb)(unsigned long t),
void (*flash_leds_cb)(bool on),
AP_PeriodicProcess * scheduler );
/// Perform cold startup initialisation for just the accelerometers.
///
/// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work.
///
virtual void init_accel(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Perform cold-start initialisation for just the gyros.
///
/// @note This should not be called unless ::init has previously
/// been called, as ::init may perform other work
///
virtual void init_gyro(void (*callback)(unsigned long t), void (*flash_leds_cb)(bool on));
/// Give the IMU some cycles to perform/fetch an update from its
/// sensors.
///
/// @returns True if some state was updated.
///
virtual bool update(void);
// true if new data is available from the sensors
virtual bool new_data_available(void);
/// Fetch the current gyro values
///
/// @returns vector of rotational rates in radians/sec
///
Vector3f get_gyro(void) {
return _gyro;
}
/// Fetch the current accelerometer values
///
/// @returns vector of current accelerations in m/s/s
///
Vector3f get_accel(void) {
return _accel;
}
/// return the number of seconds that the last update represents
///
/// @returns number of seconds
///
float get_delta_time(void) {
return _sample_time * 1.0e-6;
}
/// return the maximum gyro drift rate in radians/s/s. This
/// depends on what gyro chips are being used
virtual float get_gyro_drift_rate(void);
/// A count of bad sensor readings
///
/// @todo This should be renamed, as there's no guarantee that sensors
/// are using ADCs, etc.
///
uint8_t adc_constraints;
virtual float gx(void);
virtual float gy(void);
virtual float gz(void);
virtual float ax(void);
virtual float ay(void);
virtual float az(void);
virtual void ax(const float v);
virtual void ay(const float v);
virtual void az(const float v);
static const struct AP_Param::GroupInfo var_info[];
protected:
AP_Vector6f _sensor_cal; ///< Calibrated sensor offsets
/// Most recent accelerometer reading obtained by ::update
Vector3f _accel;
/// Most recent accelerometer reading obtained by ::update
Vector3f _accel;
/// Most recent gyro reading obtained by ::update
Vector3f _gyro;
/// Most recent gyro reading obtained by ::update
Vector3f _gyro;
/// number of microseconds that the accel and gyro values
/// were sampled over
uint32_t _sample_time;
AP_Int16 _product_id; // this is the product id returned from the INS init
/// number of microseconds that the accel and gyro values
/// were sampled over
uint32_t _sample_time;
AP_Int16 _product_id; // this is the product id returned from the INS init
};
#endif

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