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61 lines
1.3 KiB
61 lines
1.3 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_OILPAN_H__ |
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#define __AP_INERTIAL_SENSOR_OILPAN_H__ |
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#include <string.h> |
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#include <stdint.h> |
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#include "../AP_ADC/AP_ADC.h" |
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#include "../AP_Math/AP_Math.h" |
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#include "AP_InertialSensor.h" |
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class AP_InertialSensor_Oilpan : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_Oilpan( AP_ADC * adc ); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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void init(AP_PeriodicProcess * scheduler); |
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bool update(); |
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float gx(); |
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float gy(); |
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float gz(); |
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void get_gyros( float * ); |
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float ax(); |
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float ay(); |
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float az(); |
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void get_accels( float * ); |
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void get_sensors( float * ); |
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float temperature(); |
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uint32_t sample_time(); |
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void reset_sample_time(); |
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private: |
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AP_ADC *_adc; |
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Vector3f _gyro; |
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Vector3f _accel; |
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float _temp; |
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uint32_t _sample_time; |
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static const uint8_t _sensors[6]; |
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static const int8_t _sensor_signs[6]; |
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static const uint8_t _gyro_temp_ch; |
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static const float _gravity; |
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static const float _accel_scale; |
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static const float _gyro_gain_x; |
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static const float _gyro_gain_y; |
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static const float _gyro_gain_z; |
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static const float _adc_constraint; |
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float _gyro_apply_std_offset( uint16_t adc_value ); |
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float _accel_apply_std_offset( uint16_t adc_value ); |
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}; |
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#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
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