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68 lines
1.9 KiB
68 lines
1.9 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_PX4_H__ |
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#define __AP_INERTIAL_SENSOR_PX4_H__ |
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#include <AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 |
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#include <AP_Progmem.h> |
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#include "AP_InertialSensor.h" |
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#include <drivers/drv_accel.h> |
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#include <drivers/drv_gyro.h> |
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#include <uORB/uORB.h> |
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#include <uORB/topics/sensor_combined.h> |
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class AP_InertialSensor_PX4 : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_PX4() : |
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AP_InertialSensor(), |
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_sample_time_usec(0) |
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{ |
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} |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_delta_time(); |
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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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bool healthy(void) const; |
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// multi-device interface |
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bool get_gyro_health(uint8_t instance) const; |
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uint8_t get_gyro_count(void) const; |
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bool get_accel_health(uint8_t instance) const; |
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uint8_t get_accel_count(void) const; |
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private: |
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uint8_t _get_primary_gyro(void) const; |
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uint8_t _get_primary_accel(void) const; |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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void _get_sample(void); |
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bool _sample_available(void); |
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Vector3f _accel_in[INS_MAX_INSTANCES]; |
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Vector3f _gyro_in[INS_MAX_INSTANCES]; |
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uint64_t _last_accel_timestamp[INS_MAX_INSTANCES]; |
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uint64_t _last_gyro_timestamp[INS_MAX_INSTANCES]; |
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uint64_t _last_sample_timestamp; |
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uint32_t _sample_time_usec; |
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bool _have_sample_available; |
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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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// accelerometer and gyro driver handles |
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uint8_t _num_accel_instances; |
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uint8_t _num_gyro_instances; |
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int _accel_fd[INS_MAX_INSTANCES]; |
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int _gyro_fd[INS_MAX_INSTANCES]; |
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}; |
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#endif |
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#endif // __AP_INERTIAL_SENSOR_PX4_H__
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