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33 lines
802 B
33 lines
802 B
14 years ago
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#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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