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32 lines
749 B
32 lines
749 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#pragma once |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT |
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#include <AP_HAL_Linux/qflight/qflight_buffer.h> |
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#include "AP_InertialSensor.h" |
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#include "AP_InertialSensor_Backend.h" |
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class AP_InertialSensor_QFLIGHT : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_QFLIGHT(AP_InertialSensor &imu); |
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/* update accel and gyro state */ |
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bool update(); |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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private: |
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bool init_sensor(void); |
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void timer_update(); |
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uint8_t gyro_instance; |
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uint8_t accel_instance; |
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DSPBuffer::IMU *imubuf; |
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}; |
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#endif
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