mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-19 03:10:34 +08:00
Daniel Agar
67 lines
2.5 KiB
C++
67 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#pragma once
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#include <drivers/drv_baro.h>
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#include <drivers/drv_hrt.h>
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#include <lib/cdev/CDev.hpp>
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#include <lib/conversion/rotation.h>
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#include <uORB/uORB.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_baro.h>
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class PX4Barometer : public cdev::CDev
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{
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public:
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PX4Barometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT);
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~PX4Barometer() override;
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _sensor_baro_pub.get().error_count = error_count; }
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void set_temperature(float temperature) { _sensor_baro_pub.get().temperature = temperature; }
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void update(hrt_abstime timestamp, float pressure);
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void print_status();
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private:
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uORB::PublicationMultiData<sensor_baro_s> _sensor_baro_pub;
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int _class_device_instance{-1};
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};
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