mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-15 06:47:34 +08:00
Daniel Agar
bbb19f7c7f
- introduce SENS_GNSS instance configuration and GPS blending updates
- SENS_GNSSx_ID
- SENS_GNSSx_{X,Y,Z}POS
78 lines
2.5 KiB
C++
78 lines
2.5 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2020-2022 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 <px4_platform_common/px4_config.h>
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#include <px4_platform_common/log.h>
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#include <lib/conversion/rotation.h>
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#include <lib/mathlib/mathlib.h>
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#include <lib/parameters/param.h>
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#include <matrix/math.hpp>
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namespace sensor
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{
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namespace utilities
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{
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/**
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* @brief Get the board sensor level adjustment (SENS_BOARD_X_OFF, SENS_BOARD_Y_OFF, SENS_BOARD_Z_OFF).
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*
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* @return matrix::Eulerf
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*/
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matrix::Eulerf GetSensorLevelAdjustment();
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/**
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* @brief Get the board rotation.
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*
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* @return enum Rotation
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*/
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Rotation GetBoardRotation();
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/**
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* @brief Get the board rotation Dcm.
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*
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* @return matrix::Dcmf
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*/
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matrix::Dcmf GetBoardRotationMatrix();
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/**
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* @brief Determine if device is on an external bus
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*
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* @return true if device is on an external bus
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*/
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bool DeviceExternal(uint32_t device_id);
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} // namespace utilities
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} // namespace sensor
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