#include <AP_InertialSensor.h>

Collaboration diagram for AP_InertialSensor::BatchSampler:

Public Member Functions
	BatchSampler (const AP_InertialSensor &imu)

void	init ()

void	sample (uint8_t instance, IMU_SENSOR_TYPE _type, uint64_t sample_us, const Vector3f &sample)

void	periodic ()

bool	doing_sensor_rate_logging () const

Public Attributes
AP_Int16	_required_count

AP_Int8	_sensor_mask

AP_Int8	_batch_options_mask

AP_Int16	samples_per_msg

AP_Int8	push_interval_ms

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	batch_opt_t { BATCH_OPT_SENSOR_RATE = (1<<0) }

Private Member Functions
void	rotate_to_next_sensor ()

void	update_doing_sensor_rate_logging ()

bool	should_log (uint8_t instance, IMU_SENSOR_TYPE type)

void	push_data_to_log ()

Private Attributes
uint64_t	measurement_started_us

bool	initialised: 1

bool	isbh_sent: 1

bool	_doing_sensor_rate_logging: 1

uint8_t	instance: 3

AP_InertialSensor::IMU_SENSOR_TYPE	type: 1

uint16_t	isb_seqnum

int16_t *	data_x

int16_t *	data_y

int16_t *	data_z

uint16_t	data_write_offset

uint16_t	data_read_offset

uint32_t	last_sent_ms

uint16_t	multiplier

const AP_InertialSensor &	_imu

Detailed Description

Definition at line 283 of file AP_InertialSensor.h.

Member Enumeration Documentation

◆ batch_opt_t

enum AP_InertialSensor::BatchSampler::batch_opt_t

private

Enumerator
BATCH_OPT_SENSOR_RATE

Definition at line 322 of file AP_InertialSensor.h.

Constructor & Destructor Documentation

◆ BatchSampler()

AP_InertialSensor::BatchSampler::BatchSampler ( const AP_InertialSensor & imu )

inline

Definition at line 285 of file AP_InertialSensor.h.

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Member Function Documentation

◆ doing_sensor_rate_logging()

bool AP_InertialSensor::BatchSampler::doing_sensor_rate_logging ( ) const

inline

Definition at line 297 of file AP_InertialSensor.h.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample(), AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(), AP_InertialSensor_Backend::log_accel_raw(), and AP_InertialSensor_Backend::log_gyro_raw().

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◆ init()

void AP_InertialSensor::BatchSampler::init ( void )

Definition at line 46 of file BatchSampler.cpp.

Referenced by BatchSampler(), and AP_InertialSensor::init().

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◆ periodic()

void AP_InertialSensor::BatchSampler::periodic ( )

Definition at line 79 of file BatchSampler.cpp.

Referenced by BatchSampler(), and AP_InertialSensor::periodic().

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◆ push_data_to_log()

void AP_InertialSensor::BatchSampler::push_data_to_log ( )

private

Definition at line 163 of file BatchSampler.cpp.

Referenced by periodic().

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◆ rotate_to_next_sensor()

void AP_InertialSensor::BatchSampler::rotate_to_next_sensor ( )

private

Definition at line 104 of file BatchSampler.cpp.

Referenced by init(), and push_data_to_log().

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◆ sample()

void AP_InertialSensor::BatchSampler::sample	(	uint8_t	instance,
		AP_InertialSensor::IMU_SENSOR_TYPE	_type,
		uint64_t	sample_us,
		const Vector3f &	sample
	)

Definition at line 264 of file BatchSampler.cpp.

Referenced by AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample(), AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample(), BatchSampler(), AP_InertialSensor_Backend::log_accel_raw(), and AP_InertialSensor_Backend::log_gyro_raw().

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◆ should_log()

bool AP_InertialSensor::BatchSampler::should_log	(	uint8_t	instance,
		IMU_SENSOR_TYPE	type
	)

private

Definition at line 236 of file BatchSampler.cpp.

Referenced by sample().

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◆ update_doing_sensor_rate_logging()

void AP_InertialSensor::BatchSampler::update_doing_sensor_rate_logging ( )

private

Definition at line 87 of file BatchSampler.cpp.

Referenced by rotate_to_next_sensor().

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Member Data Documentation

◆ _batch_options_mask

AP_Int8 AP_InertialSensor::BatchSampler::_batch_options_mask

Definition at line 305 of file AP_InertialSensor.h.

Referenced by update_doing_sensor_rate_logging().

◆ _doing_sensor_rate_logging

bool AP_InertialSensor::BatchSampler::_doing_sensor_rate_logging

private

Definition at line 336 of file AP_InertialSensor.h.

Referenced by doing_sensor_rate_logging(), push_data_to_log(), and update_doing_sensor_rate_logging().

◆ _imu

const AP_InertialSensor& AP_InertialSensor::BatchSampler::_imu

private

Definition at line 350 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), rotate_to_next_sensor(), and update_doing_sensor_rate_logging().

◆ _required_count

AP_Int16 AP_InertialSensor::BatchSampler::_required_count

Definition at line 303 of file AP_InertialSensor.h.

Referenced by init(), push_data_to_log(), and should_log().

◆ _sensor_mask

AP_Int8 AP_InertialSensor::BatchSampler::_sensor_mask

Definition at line 304 of file AP_InertialSensor.h.

Referenced by init(), periodic(), push_data_to_log(), rotate_to_next_sensor(), and should_log().

◆ data_read_offset

uint16_t AP_InertialSensor::BatchSampler::data_read_offset

private

Definition at line 344 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ data_write_offset

uint16_t AP_InertialSensor::BatchSampler::data_write_offset

private

Definition at line 343 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), sample(), and should_log().

◆ data_x

int16_t* AP_InertialSensor::BatchSampler::data_x

private

Definition at line 340 of file AP_InertialSensor.h.

Referenced by init(), push_data_to_log(), and sample().

◆ data_y

int16_t* AP_InertialSensor::BatchSampler::data_y

private

Definition at line 341 of file AP_InertialSensor.h.

Referenced by init(), push_data_to_log(), and sample().

◆ data_z

int16_t* AP_InertialSensor::BatchSampler::data_z

private

Definition at line 342 of file AP_InertialSensor.h.

Referenced by init(), push_data_to_log(), and sample().

◆ initialised

bool AP_InertialSensor::BatchSampler::initialised

private

Definition at line 334 of file AP_InertialSensor.h.

Referenced by init(), push_data_to_log(), and should_log().

◆ instance

uint8_t AP_InertialSensor::BatchSampler::instance

private

Definition at line 337 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), rotate_to_next_sensor(), should_log(), and update_doing_sensor_rate_logging().

◆ isb_seqnum

uint16_t AP_InertialSensor::BatchSampler::isb_seqnum

private

Definition at line 339 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ isbh_sent

bool AP_InertialSensor::BatchSampler::isbh_sent

private

Definition at line 335 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ last_sent_ms

uint32_t AP_InertialSensor::BatchSampler::last_sent_ms

private

Definition at line 345 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ measurement_started_us

uint64_t AP_InertialSensor::BatchSampler::measurement_started_us

private

Definition at line 332 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), and sample().

◆ multiplier

uint16_t AP_InertialSensor::BatchSampler::multiplier

private

Definition at line 348 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), rotate_to_next_sensor(), and sample().

◆ push_interval_ms

AP_Int8 AP_InertialSensor::BatchSampler::push_interval_ms

Definition at line 316 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ samples_per_msg

AP_Int16 AP_InertialSensor::BatchSampler::samples_per_msg

Definition at line 315 of file AP_InertialSensor.h.

Referenced by push_data_to_log().

◆ type

AP_InertialSensor::IMU_SENSOR_TYPE AP_InertialSensor::BatchSampler::type

private

Definition at line 338 of file AP_InertialSensor.h.

Referenced by push_data_to_log(), rotate_to_next_sensor(), should_log(), and update_doing_sensor_rate_logging().

◆ var_info

const AP_Param::GroupInfo AP_InertialSensor::BatchSampler::var_info

static

Definition at line 300 of file AP_InertialSensor.h.

Referenced by BatchSampler().

The documentation for this class was generated from the following files:

libraries/AP_InertialSensor/AP_InertialSensor.h
libraries/AP_InertialSensor/BatchSampler.cpp

Public Member Functions

Public Attributes

Static Public Attributes

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

◆ batch_opt_t

Constructor & Destructor Documentation

◆ BatchSampler()

Member Function Documentation

◆ doing_sensor_rate_logging()

◆ init()

◆ periodic()

◆ push_data_to_log()

◆ rotate_to_next_sensor()

◆ sample()

◆ should_log()

◆ update_doing_sensor_rate_logging()

Member Data Documentation

◆ _batch_options_mask

◆ _doing_sensor_rate_logging

◆ _imu

◆ _required_count

◆ _sensor_mask

◆ data_read_offset

◆ data_write_offset

◆ data_x

◆ data_y

◆ data_z

◆ initialised

◆ instance

◆ isb_seqnum

◆ isbh_sent

◆ last_sent_ms

◆ measurement_started_us

◆ multiplier

◆ push_interval_ms

◆ samples_per_msg

◆ type

◆ var_info