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47 lines
1.2 KiB
47 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_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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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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bool new_data_available(); |
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float temperature(); |
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uint32_t get_delta_time_micros(); |
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uint32_t get_last_sample_time_micros(); |
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float get_gyro_drift_rate(); |
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uint16_t num_samples_available(); |
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private: |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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uint32_t _last_update_usec; |
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uint32_t _delta_time_usec; |
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// accelerometer ORB subscription handle |
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int _accel_sub; |
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// gyro ORB subscription handle |
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int _gyro_sub; |
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// raw sensor values, combined structure |
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struct sensor_combined_s _raw_sensors; |
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}; |
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#endif |
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#endif // __AP_INERTIAL_SENSOR_PX4_H__
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