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39 lines
982 B
39 lines
982 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_FLYMAPLE_H__ |
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#define __AP_INERTIAL_SENSOR_FLYMAPLE_H__ |
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#include <AP_HAL/AP_HAL.h> |
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#if CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE |
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#include "AP_InertialSensor.h" |
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#include <Filter/Filter.h> |
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#include <Filter/LowPassFilter2p.h> |
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class AP_InertialSensor_Flymaple : public AP_InertialSensor_Backend |
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{ |
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public: |
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AP_InertialSensor_Flymaple(AP_InertialSensor &imu); |
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/* update accel and gyro state */ |
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bool update(); |
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// accumulate samples |
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void accumulate(void) override; |
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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 _have_gyro_sample; |
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bool _have_accel_sample; |
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uint8_t _gyro_instance; |
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uint8_t _accel_instance; |
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uint32_t _last_gyro_timestamp; |
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uint32_t _last_accel_timestamp; |
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}; |
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#endif |
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#endif // __AP_INERTIAL_SENSOR_FLYMAPLE_H__
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