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32 lines
802 B
32 lines
802 B
#ifndef AP_ADC_HIL_H |
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#define AP_ADC_HIL_H |
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/* |
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AP_ADC_HIL.cpp - HIL model of ADC ADS7844 for Ardupilot Mega |
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Code by James Goppert. DIYDrones.com |
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*/ |
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#include <inttypes.h> |
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#include "AP_ADC.h" |
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class AP_ADC_HIL : public AP_ADC |
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{ |
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public: |
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AP_ADC_HIL(); // Constructor |
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void Init(); |
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int Ch(unsigned char ch_num); |
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int setHIL(int16_t p, int16_t q, int16_t r, int16_t gyroTemp, |
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int16_t aX, int16_t aY, int16_t aZ, int16_t diffPress); |
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private: |
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static const uint16_t adcPerG = 418; |
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static const float gyroGainX = 0.4; |
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static const float gyroGainY = 0.41; |
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static const float gyroGainZ = 0.41; |
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static const float deg2rad = 3.14159/180.0; |
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static const uint8_t sensors[6]; |
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static const int sensorSign[9]; |
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long adc_value[8]; |
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}; |
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#endif
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