AP_InertialSensor.h File Reference

#include <stdint.h>
#include <AP_AccelCal/AP_AccelCal.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <Filter/LowPassFilter2p.h>
#include <Filter/LowPassFilter.h>
#include <Filter/NotchFilter.h>

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Classes
class	AP_InertialSensor
class	AP_InertialSensor::BatchSampler
struct	AP_InertialSensor::PeakHoldState

Namespaces
	AP

Macros
#define	AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE   4.0f
#define	AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET   250.0f
#define	AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS   (15.5f*GRAVITY_MSS)
#define	AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ   5.0f
#define	AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ   2.0f
#define	AP_INERTIAL_SENSOR_ACCEL_PEAK_DETECT_TIMEOUT_MS   500
#define	INS_MAX_INSTANCES   3
#define	INS_MAX_BACKENDS   6
#define	INS_VIBRATION_CHECK_INSTANCES   2
#define	DEFAULT_IMU_LOG_BAT_MASK   0

Functions
AP_InertialSensor &	AP::ins ()

Macro Definition Documentation

AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS

#define AP_INERTIAL_SENSOR_ACCEL_CLIP_THRESH_MSS   (15.5f*GRAVITY_MSS)

Definition at line 6 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), and AP_InertialSensor::calc_vibration_and_clipping().

AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET

#define AP_INERTIAL_SENSOR_ACCEL_MAX_OFFSET   250.0f

Definition at line 5 of file AP_InertialSensor.h.

AP_INERTIAL_SENSOR_ACCEL_PEAK_DETECT_TIMEOUT_MS

#define AP_INERTIAL_SENSOR_ACCEL_PEAK_DETECT_TIMEOUT_MS   500

Definition at line 9 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::set_accel_peak_hold().

AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE

#define AP_INERTIAL_SENSOR_ACCEL_TOT_MAX_OFFSET_CHANGE   4.0f

Definition at line 4 of file AP_InertialSensor.h.

AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ

#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FILT_HZ   2.0f

Definition at line 8 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::AP_InertialSensor().

AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ

#define AP_INERTIAL_SENSOR_ACCEL_VIBE_FLOOR_FILT_HZ   5.0f

Definition at line 7 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::AP_InertialSensor().

DEFAULT_IMU_LOG_BAT_MASK

#define DEFAULT_IMU_LOG_BAT_MASK   0

Definition at line 19 of file AP_InertialSensor.h.

INS_MAX_BACKENDS

#define INS_MAX_BACKENDS   6

Definition at line 16 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::_add_backend().

INS_MAX_INSTANCES

#define INS_MAX_INSTANCES   3

maximum number of INS instances available on this platform. If more than 1 then redundant sensors may be available

Definition at line 15 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::_acal_save_calibrations(), AP_InertialSensor::_init_gyro(), AP_InertialSensor_PX4::_init_sensor(), AP_InertialSensor::_save_gyro_calibration(), AP_InertialSensor::_start_backends(), AP_InertialSensor::acal_init(), AP_InertialSensor::accel_calibrated_ok_all(), AP_InertialSensor::AP_InertialSensor(), AP_AHRS_DCM::drift_correction(), AP_InertialSensor::gyro_calibrated_ok_all(), loop(), AP_InertialSensor::register_accel(), AP_InertialSensor::register_gyro(), AP_InertialSensor::set_accel(), AP_InertialSensor::set_delta_angle(), AP_InertialSensor::set_delta_velocity(), AP_InertialSensor::set_gyro(), setup(), AP_InertialSensor::simple_accel_cal(), AP_InertialSensor::update(), AP_AHRS_NavEKF::update_SITL(), AP_InertialSensor::use_accel(), AP_InertialSensor::use_gyro(), and AP_InertialSensor::wait_for_sample().

INS_VIBRATION_CHECK_INSTANCES

#define INS_VIBRATION_CHECK_INSTANCES   2

Definition at line 17 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor::AP_InertialSensor(), AP_InertialSensor::calc_vibration_and_clipping(), and AP_InertialSensor::get_vibration_levels().