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37 lines
1.2 KiB
37 lines
1.2 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 <AP_HAL.h> |
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#include "AP_InertialSensor.h" |
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class AP_InertialSensor_Oilpan : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_Oilpan(AP_InertialSensor &imu); |
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/* update accel and gyro state */ |
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bool update(); |
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bool gyro_sample_available(void) { return _sample_available(); } |
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bool accel_sample_available(void) { return _sample_available(); } |
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// detect the sensor |
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu); |
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private: |
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bool _init_sensor(void); |
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bool _sample_available() const; |
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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 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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uint8_t _sample_threshold; |
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uint8_t _gyro_instance; |
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uint8_t _accel_instance; |
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}; |
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#endif // __AP_INERTIAL_SENSOR_OILPAN_H__
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