You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
72 lines
2.3 KiB
72 lines
2.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#ifndef __AP_INERTIAL_SENSOR_MPU9150_H__ |
|
#define __AP_INERTIAL_SENSOR_MPU9150_H__ |
|
|
|
#include <AP_HAL.h> |
|
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
|
|
|
#include <AP_Progmem.h> |
|
#include "AP_InertialSensor.h" |
|
#include <Filter.h> |
|
#include <LowPassFilter2p.h> |
|
|
|
|
|
class AP_InertialSensor_MPU9150 : public AP_InertialSensor |
|
{ |
|
public: |
|
|
|
AP_InertialSensor_MPU9150(); |
|
|
|
/* Implementation of AP_InertialSensor functions: */ |
|
bool update(); |
|
float get_delta_time() const; |
|
float get_gyro_drift_rate(); |
|
bool wait_for_sample(uint16_t timeout_ms); |
|
|
|
private: |
|
uint16_t _init_sensor( Sample_rate sample_rate ); |
|
void _accumulate(void); |
|
bool _sample_available(); |
|
// uint64_t _last_update_usec; |
|
Vector3f _accel_filtered; |
|
Vector3f _gyro_filtered; |
|
uint32_t _sample_period_usec; |
|
volatile uint32_t _gyro_samples_available; |
|
uint64_t _last_sample_timestamp; |
|
bool _have_sample_available; |
|
|
|
// // support for updating filter at runtime |
|
uint8_t _last_filter_hz; |
|
uint8_t _default_filter_hz; |
|
|
|
int16_t mpu_set_gyro_fsr(uint16_t fsr); |
|
int16_t mpu_set_accel_fsr(uint8_t fsr); |
|
int16_t mpu_set_lpf(uint16_t lpf); |
|
int16_t mpu_set_sample_rate(uint16_t rate); |
|
int16_t mpu_set_compass_sample_rate(uint16_t rate, uint16_t chip_sample_rate); |
|
int16_t mpu_configure_fifo(uint8_t sensors); |
|
int16_t set_int_enable(uint8_t enable); |
|
int16_t mpu_reset_fifo(uint8_t sensors); |
|
int16_t mpu_set_sensors(uint8_t sensors); |
|
int16_t mpu_set_int_latched(uint8_t enable); |
|
int16_t mpu_read_fifo(int16_t *gyro, int16_t *accel, uint32_t timestamp, uint8_t *sensors, uint8_t *more); |
|
|
|
// Filter (specify which one) |
|
void _set_filter_frequency(uint8_t filter_hz); |
|
|
|
// Low Pass filters for gyro and accel |
|
LowPassFilter2p _accel_filter_x; |
|
LowPassFilter2p _accel_filter_y; |
|
LowPassFilter2p _accel_filter_z; |
|
LowPassFilter2p _gyro_filter_x; |
|
LowPassFilter2p _gyro_filter_y; |
|
LowPassFilter2p _gyro_filter_z; |
|
// LowPassFilter2p _mag_filter_x; |
|
// LowPassFilter2p _mag_filter_y; |
|
// LowPassFilter2p _mag_filter_z; |
|
|
|
|
|
}; |
|
#endif |
|
#endif // __AP_INERTIAL_SENSOR_MPU9150_H__
|
|
|