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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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27f23ac290
- CAL_ACCx_EN -> CAL_ACCx_PRIO - CAL_GYROx_EN -> CAL_GYROx_PRIO - CAL_MAGx_EN -> CAL_MAGx_PRIO
90 lines
3.4 KiB
C++
90 lines
3.4 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_hrt.h>
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#include <lib/conversion/rotation.h>
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#include <lib/ecl/geo/geo.h>
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#include <px4_platform_common/module_params.h>
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#include <uORB/PublicationMulti.hpp>
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#include <uORB/topics/sensor_accel.h>
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#include <uORB/topics/sensor_accel_fifo.h>
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class PX4Accelerometer : public ModuleParams
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{
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public:
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PX4Accelerometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
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~PX4Accelerometer() override;
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uint32_t get_device_id() const { return _device_id; }
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float get_max_rate_hz() const { return _param_imu_gyro_rate_max.get(); }
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void set_device_id(uint32_t device_id) { _device_id = device_id; }
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void set_device_type(uint8_t devtype);
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void set_error_count(uint64_t error_count) { _error_count = error_count; }
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void increase_error_count() { _error_count++; }
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void set_range(float range) { _range = range; UpdateClipLimit(); }
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void set_scale(float scale) { _scale = scale; UpdateClipLimit(); }
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void set_temperature(float temperature) { _temperature = temperature; }
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void update(const hrt_abstime ×tamp_sample, float x, float y, float z);
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void updateFIFO(sensor_accel_fifo_s &sample);
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private:
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void Publish(const hrt_abstime ×tamp_sample, float x, float y, float z, uint8_t clip_count[3]);
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void UpdateClipLimit();
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uORB::PublicationQueuedMulti<sensor_accel_s> _sensor_pub;
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uORB::PublicationMulti<sensor_accel_fifo_s> _sensor_fifo_pub;
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uint32_t _device_id{0};
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const enum Rotation _rotation;
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float _range{16 * CONSTANTS_ONE_G};
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float _scale{1.f};
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float _temperature{NAN};
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float _clip_limit{_range / _scale};
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uint32_t _error_count{0};
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int16_t _last_sample[3] {};
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DEFINE_PARAMETERS(
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(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
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)
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};
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