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60 lines
1.8 KiB
60 lines
1.8 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#include <AP_HAL.h> |
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#include "AP_InertialSensor.h" |
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#include "AP_InertialSensor_Backend.h" |
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AP_InertialSensor_Backend::AP_InertialSensor_Backend(AP_InertialSensor &imu) : |
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_imu(imu), |
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_product_id(AP_PRODUCT_ID_NONE) |
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{} |
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/* |
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rotate gyro vector and add the gyro offset |
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*/ |
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void AP_InertialSensor_Backend::_rotate_and_offset_gyro(uint8_t instance, const Vector3f &gyro) |
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{ |
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_imu._gyro[instance] = gyro; |
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_imu._gyro[instance].rotate(_imu._board_orientation); |
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_imu._gyro[instance] -= _imu._gyro_offset[instance]; |
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_imu._gyro_healthy[instance] = true; |
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} |
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/* |
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rotate accel vector, scale and add the accel offset |
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*/ |
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void AP_InertialSensor_Backend::_rotate_and_offset_accel(uint8_t instance, const Vector3f &accel) |
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{ |
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_imu._accel[instance] = accel; |
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_imu._accel[instance].rotate(_imu._board_orientation); |
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const Vector3f &accel_scale = _imu._accel_scale[instance].get(); |
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_imu._accel[instance].x *= accel_scale.x; |
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_imu._accel[instance].y *= accel_scale.y; |
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_imu._accel[instance].z *= accel_scale.z; |
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_imu._accel[instance] -= _imu._accel_offset[instance]; |
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_imu._accel_healthy[instance] = true; |
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} |
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/* |
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return the default filter frequency in Hz for the sample rate |
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This uses the sample_rate as a proxy for what type of vehicle it is |
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(ie. plane and rover run at 50Hz). Copters need a bit more filter |
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bandwidth |
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*/ |
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uint8_t AP_InertialSensor_Backend::_default_filter(void) const |
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{ |
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switch (_imu.get_sample_rate()) { |
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case AP_InertialSensor::RATE_50HZ: |
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// on Rover and plane use a lower filter rate |
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return 15; |
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case AP_InertialSensor::RATE_100HZ: |
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return 30; |
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case AP_InertialSensor::RATE_200HZ: |
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return 30; |
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case AP_InertialSensor::RATE_400HZ: |
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return 30; |
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} |
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return 30; |
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}
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