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53 lines
1.6 KiB
53 lines
1.6 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#define __AP_INERTIAL_SENSOR_L3G4200D_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX |
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#include <AP_Progmem.h> |
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#include "AP_InertialSensor.h" |
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#include <Filter.h> |
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#include <LowPassFilter2p.h> |
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class AP_InertialSensor_L3G4200D : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_L3G4200D(); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_delta_time() const; |
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float get_gyro_drift_rate(); |
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bool wait_for_sample(uint16_t timeout_ms); |
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private: |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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void _accumulate(void); |
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bool _sample_available(); |
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uint64_t _last_update_usec; |
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Vector3f _accel_filtered; |
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Vector3f _gyro_filtered; |
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uint32_t _sample_period_usec; |
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uint32_t _last_sample_time; |
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volatile uint32_t _gyro_samples_available; |
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volatile uint8_t _gyro_samples_needed; |
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// support for updating filter at runtime |
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uint8_t _last_filter_hz; |
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uint8_t _default_filter_hz; |
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void _set_filter_frequency(uint8_t filter_hz); |
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// Low Pass filters for gyro and accel |
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LowPassFilter2p _accel_filter_x; |
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LowPassFilter2p _accel_filter_y; |
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LowPassFilter2p _accel_filter_z; |
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LowPassFilter2p _gyro_filter_x; |
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LowPassFilter2p _gyro_filter_y; |
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LowPassFilter2p _gyro_filter_z; |
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}; |
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#endif |
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#endif // __AP_INERTIAL_SENSOR_L3G4200D_H__
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