#include <AP_InertialSensor_Backend.h>

Inheritance diagram for AP_InertialSensor_Backend:

Collaboration diagram for AP_InertialSensor_Backend:

Public Types
enum	DevTypes { DEVTYPE_BMI160 = 0x09, DEVTYPE_L3G4200D = 0x10, DEVTYPE_ACC_LSM303D = 0x11, DEVTYPE_ACC_BMA180 = 0x12, DEVTYPE_ACC_MPU6000 = 0x13, DEVTYPE_ACC_MPU9250 = 0x16, DEVTYPE_ACC_IIS328DQ = 0x17, DEVTYPE_ACC_LSM9DS1 = 0x18, DEVTYPE_GYR_MPU6000 = 0x21, DEVTYPE_GYR_L3GD20 = 0x22, DEVTYPE_GYR_MPU9250 = 0x24, DEVTYPE_GYR_I3G4250D = 0x25, DEVTYPE_GYR_LSM9DS1 = 0x26, DEVTYPE_INS_ICM20789 = 0x27, DEVTYPE_INS_ICM20689 = 0x28 }

Public Member Functions
	AP_InertialSensor_Backend (AP_InertialSensor &imu)

	AP_InertialSensor_Backend (const AP_InertialSensor_Backend &that)=delete

virtual	~AP_InertialSensor_Backend (void)

virtual bool	update ()=0

virtual void	accumulate ()

virtual void	start ()

virtual AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Protected Member Functions
void	_rotate_and_correct_accel (uint8_t instance, Vector3f &accel)

void	_rotate_and_correct_gyro (uint8_t instance, Vector3f &gyro)

void	_publish_gyro (uint8_t instance, const Vector3f &gyro)

void	_notify_new_gyro_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0)

void	_publish_accel (uint8_t instance, const Vector3f &accel)

void	_notify_new_accel_raw_sample (uint8_t instance, const Vector3f &accel, uint64_t sample_us=0, bool fsync_set=false)

void	_set_accel_oversampling (uint8_t instance, uint8_t n)

void	_set_gyro_oversampling (uint8_t instance, uint8_t n)

void	_set_accel_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_gyro_sensor_rate_sampling_enabled (uint8_t instance, bool value)

void	_set_raw_sample_accel_multiplier (uint8_t instance, uint16_t mul)

void	_set_raw_sampl_gyro_multiplier (uint8_t instance, uint16_t mul)

void	_update_sensor_rate (uint16_t &count, uint32_t &start_us, float &rate_hz) const

void	_set_accel_max_abs_offset (uint8_t instance, float offset)

uint32_t	_accel_raw_sample_rate (uint8_t instance) const

void	_set_accel_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

uint32_t	_gyro_raw_sample_rate (uint8_t instance) const

void	_set_gyro_raw_sample_rate (uint8_t instance, uint16_t rate_hz)

void	_publish_temperature (uint8_t instance, float temperature)

void	_set_accel_error_count (uint8_t instance, uint32_t error_count)

void	_set_gyro_error_count (uint8_t instance, uint32_t error_count)

void	_inc_accel_error_count (uint8_t instance)

void	_inc_gyro_error_count (uint8_t instance)

uint8_t	_accel_filter_cutoff (void) const

uint8_t	_gyro_filter_cutoff (void) const

uint16_t	get_sample_rate_hz (void) const

void	update_gyro (uint8_t instance)

void	update_accel (uint8_t instance)

void	set_gyro_orientation (uint8_t instance, enum Rotation rotation)

void	set_accel_orientation (uint8_t instance, enum Rotation rotation)

void	increment_clip_count (uint8_t instance)

bool	enable_fast_sampling (uint8_t instance)

void	_notify_new_accel_sensor_rate_sample (uint8_t instance, const Vector3f &accel)

void	_notify_new_gyro_sensor_rate_sample (uint8_t instance, const Vector3f &gyro)

void	notify_accel_fifo_reset (uint8_t instance)

void	notify_gyro_fifo_reset (uint8_t instance)

Protected Attributes
AP_InertialSensor &	_imu

AP_HAL::Semaphore *	_sem

int16_t	_id = -1

int8_t	_last_accel_filter_hz [INS_MAX_INSTANCES]

int8_t	_last_gyro_filter_hz [INS_MAX_INSTANCES]

Private Member Functions
bool	should_log_imu_raw () const

void	log_accel_raw (uint8_t instance, const uint64_t sample_us, const Vector3f &accel)

void	log_gyro_raw (uint8_t instance, const uint64_t sample_us, const Vector3f &gryo)

Detailed Description

Definition at line 41 of file AP_InertialSensor_Backend.h.

Member Enumeration Documentation

◆ DevTypes

enum AP_InertialSensor_Backend::DevTypes

Enumerator
DEVTYPE_BMI160
DEVTYPE_L3G4200D
DEVTYPE_ACC_LSM303D
DEVTYPE_ACC_BMA180
DEVTYPE_ACC_MPU6000
DEVTYPE_ACC_MPU9250
DEVTYPE_ACC_IIS328DQ
DEVTYPE_ACC_LSM9DS1
DEVTYPE_GYR_MPU6000
DEVTYPE_GYR_L3GD20
DEVTYPE_GYR_MPU9250
DEVTYPE_GYR_I3G4250D
DEVTYPE_GYR_LSM9DS1
DEVTYPE_INS_ICM20789
DEVTYPE_INS_ICM20689

Definition at line 91 of file AP_InertialSensor_Backend.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor_Backend() [1/2]

AP_InertialSensor_Backend::AP_InertialSensor_Backend ( AP_InertialSensor & imu )

Definition at line 14 of file AP_InertialSensor_Backend.cpp.

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◆ AP_InertialSensor_Backend() [2/2]

AP_InertialSensor_Backend::AP_InertialSensor_Backend ( const AP_InertialSensor_Backend & that )

delete

◆ ~AP_InertialSensor_Backend()

virtual AP_InertialSensor_Backend::~AP_InertialSensor_Backend ( void )

inlinevirtual

Definition at line 49 of file AP_InertialSensor_Backend.h.

Member Function Documentation

◆ _accel_filter_cutoff()

uint8_t AP_InertialSensor_Backend::_accel_filter_cutoff ( void ) const

inlineprotected

Definition at line 218 of file AP_InertialSensor_Backend.h.

Referenced by update_accel().

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◆ _accel_raw_sample_rate()

uint32_t AP_InertialSensor_Backend::_accel_raw_sample_rate ( uint8_t instance ) const

inlineprotected

Definition at line 180 of file AP_InertialSensor_Backend.h.

Referenced by update_accel().

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◆ _gyro_filter_cutoff()

uint8_t AP_InertialSensor_Backend::_gyro_filter_cutoff ( void ) const

inlineprotected

Definition at line 221 of file AP_InertialSensor_Backend.h.

Referenced by update_gyro().

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◆ _gyro_raw_sample_rate()

uint32_t AP_InertialSensor_Backend::_gyro_raw_sample_rate ( uint8_t instance ) const

inlineprotected

Definition at line 190 of file AP_InertialSensor_Backend.h.

Referenced by update_gyro().

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◆ _inc_accel_error_count()

void AP_InertialSensor_Backend::_inc_accel_error_count ( uint8_t instance )

protected

Definition at line 393 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS1::_poll_data(), AP_InertialSensor_LSM9DS0::_poll_data(), and AP_InertialSensor_Invensense::_read_fifo().

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◆ _inc_gyro_error_count()

void AP_InertialSensor_Backend::_inc_gyro_error_count ( uint8_t instance )

protected

Definition at line 399 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS0::_poll_data(), and AP_InertialSensor_Invensense::_read_fifo().

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◆ _notify_new_accel_raw_sample()

void AP_InertialSensor_Backend::_notify_new_accel_raw_sample	(	uint8_t	instance,
		const Vector3f &	accel,
		uint64_t	sample_us = `0`,
		bool	fsync_set = `false`
	)

protected

Definition at line 276 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_L3G4200D::_accumulate(), AP_InertialSensor_Invensense::_accumulate(), AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), AP_InertialSensor_PX4::_new_accel_sample(), AP_InertialSensor_LSM9DS0::_read_data_transaction_a(), AP_InertialSensor_LSM9DS1::_read_data_transaction_x(), AP_InertialSensor_BMI160::_read_fifo(), AP_InertialSensor_RST::accel_measure(), and AP_InertialSensor_SITL::generate_accel().

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◆ _notify_new_accel_sensor_rate_sample()

void AP_InertialSensor_Backend::_notify_new_accel_sensor_rate_sample	(	uint8_t	instance,
		const Vector3f &	accel
	)

protected

Definition at line 332 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling().

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◆ _notify_new_gyro_raw_sample()

void AP_InertialSensor_Backend::_notify_new_gyro_raw_sample	(	uint8_t	instance,
		const Vector3f &	accel,
		uint64_t	sample_us = `0`
	)

protected

Definition at line 144 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_L3G4200D::_accumulate(), AP_InertialSensor_Invensense::_accumulate(), AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), AP_InertialSensor_PX4::_new_gyro_sample(), AP_InertialSensor_LSM9DS1::_read_data_transaction_g(), AP_InertialSensor_LSM9DS0::_read_data_transaction_g(), AP_InertialSensor_BMI160::_read_fifo(), AP_InertialSensor_SITL::generate_gyro(), and AP_InertialSensor_RST::gyro_measure().

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◆ _notify_new_gyro_sensor_rate_sample()

void AP_InertialSensor_Backend::_notify_new_gyro_sensor_rate_sample	(	uint8_t	instance,
		const Vector3f &	gyro
	)

protected

Definition at line 341 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling().

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◆ _publish_accel()

void AP_InertialSensor_Backend::_publish_accel	(	uint8_t	instance,
		const Vector3f &	accel
	)

protected

Definition at line 246 of file AP_InertialSensor_Backend.cpp.

Referenced by update_accel().

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◆ _publish_gyro()

void AP_InertialSensor_Backend::_publish_gyro	(	uint8_t	instance,
		const Vector3f &	gyro
	)

protected

Definition at line 133 of file AP_InertialSensor_Backend.cpp.

Referenced by update_gyro().

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◆ _publish_temperature()

void AP_InertialSensor_Backend::_publish_temperature	(	uint8_t	instance,
		float	temperature
	)

protected

Definition at line 414 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_PX4::_new_accel_sample(), and AP_InertialSensor_Invensense::update().

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◆ _rotate_and_correct_accel()

void AP_InertialSensor_Backend::_rotate_and_correct_accel	(	uint8_t	instance,
		Vector3f &	accel
	)

protected

Definition at line 87 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_L3G4200D::_accumulate(), AP_InertialSensor_Invensense::_accumulate(), AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), AP_InertialSensor_PX4::_new_accel_sample(), AP_InertialSensor_LSM9DS0::_read_data_transaction_a(), AP_InertialSensor_LSM9DS1::_read_data_transaction_x(), AP_InertialSensor_BMI160::_read_fifo(), AP_InertialSensor_RST::accel_measure(), and AP_InertialSensor_SITL::generate_accel().

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◆ _rotate_and_correct_gyro()

void AP_InertialSensor_Backend::_rotate_and_correct_gyro	(	uint8_t	instance,
		Vector3f &	gyro
	)

protected

Definition at line 115 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_L3G4200D::_accumulate(), AP_InertialSensor_Invensense::_accumulate(), AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling(), AP_InertialSensor_PX4::_new_gyro_sample(), AP_InertialSensor_LSM9DS1::_read_data_transaction_g(), AP_InertialSensor_LSM9DS0::_read_data_transaction_g(), AP_InertialSensor_BMI160::_read_fifo(), AP_InertialSensor_SITL::generate_gyro(), and AP_InertialSensor_RST::gyro_measure().

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◆ _set_accel_error_count()

void AP_InertialSensor_Backend::_set_accel_error_count	(	uint8_t	instance,
		uint32_t	error_count
	)

protected

Definition at line 381 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_PX4::_new_accel_sample().

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◆ _set_accel_max_abs_offset()

void AP_InertialSensor_Backend::_set_accel_max_abs_offset	(	uint8_t	instance,
		float	offset
	)

protected

Definition at line 374 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS0::start(), and AP_InertialSensor_LSM9DS1::start().

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◆ _set_accel_oversampling()

void AP_InertialSensor_Backend::_set_accel_oversampling	(	uint8_t	instance,
		uint8_t	n
	)

protected

Definition at line 39 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_Invensense::_set_filter_register().

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◆ _set_accel_raw_sample_rate()

void AP_InertialSensor_Backend::_set_accel_raw_sample_rate	(	uint8_t	instance,
		uint16_t	rate_hz
	)

inlineprotected

Definition at line 185 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::start().

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◆ _set_accel_sensor_rate_sampling_enabled()

void AP_InertialSensor_Backend::_set_accel_sensor_rate_sampling_enabled	(	uint8_t	instance,
		bool	value
	)

inlineprotected

Definition at line 148 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::_set_filter_register().

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◆ _set_gyro_error_count()

void AP_InertialSensor_Backend::_set_gyro_error_count	(	uint8_t	instance,
		uint32_t	error_count
	)

protected

Definition at line 387 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_PX4::_new_gyro_sample().

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◆ _set_gyro_oversampling()

void AP_InertialSensor_Backend::_set_gyro_oversampling	(	uint8_t	instance,
		uint8_t	n
	)

protected

Definition at line 45 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_Invensense::_set_filter_register().

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◆ _set_gyro_raw_sample_rate()

void AP_InertialSensor_Backend::_set_gyro_raw_sample_rate	(	uint8_t	instance,
		uint16_t	rate_hz
	)

inlineprotected

Definition at line 195 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::start().

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◆ _set_gyro_sensor_rate_sampling_enabled()

void AP_InertialSensor_Backend::_set_gyro_sensor_rate_sampling_enabled	(	uint8_t	instance,
		bool	value
	)

inlineprotected

Definition at line 157 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::_set_filter_register().

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◆ _set_raw_sampl_gyro_multiplier()

void AP_InertialSensor_Backend::_set_raw_sampl_gyro_multiplier	(	uint8_t	instance,
		uint16_t	mul
	)

inlineprotected

Definition at line 169 of file AP_InertialSensor_Backend.h.

◆ _set_raw_sample_accel_multiplier()

void AP_InertialSensor_Backend::_set_raw_sample_accel_multiplier	(	uint8_t	instance,
		uint16_t	mul
	)

inlineprotected

Definition at line 166 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::start().

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◆ _update_sensor_rate()

void AP_InertialSensor_Backend::_update_sensor_rate	(	uint16_t &	count,
		uint32_t &	start_us,
		float &	rate_hz
	)		const

protected

Definition at line 57 of file AP_InertialSensor_Backend.cpp.

Referenced by _notify_new_accel_raw_sample(), and _notify_new_gyro_raw_sample().

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◆ accumulate()

virtual void AP_InertialSensor_Backend::accumulate ( void )

inlinevirtual

Reimplemented in AP_InertialSensor_Revo, AP_InertialSensor_Invensense, and AP_InertialSensor_PX4.

Definition at line 61 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor::wait_for_sample().

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◆ enable_fast_sampling()

bool AP_InertialSensor_Backend::enable_fast_sampling ( uint8_t instance )

inlineprotected

Definition at line 251 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::_set_filter_register().

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◆ get_auxiliary_bus()

virtual AuxiliaryBus* AP_InertialSensor_Backend::get_auxiliary_bus ( )

inlinevirtual

Reimplemented in AP_InertialSensor_Invensense.

Definition at line 72 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor::get_auxiliary_bus().

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◆ get_id()

int16_t AP_InertialSensor_Backend::get_id ( ) const

inline

Definition at line 78 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor::_find_backend().

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◆ get_sample_rate_hz()

uint16_t AP_InertialSensor_Backend::get_sample_rate_hz ( void ) const

protected

Definition at line 405 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_PX4::_queue_depth(), and AP_InertialSensor_Invensense::_set_filter_register().

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◆ increment_clip_count()

void AP_InertialSensor_Backend::increment_clip_count ( uint8_t instance )

inlineprotected

Definition at line 246 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::_accumulate_sensor_rate_sampling().

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◆ log_accel_raw()

void AP_InertialSensor_Backend::log_accel_raw	(	uint8_t	instance,
		const uint64_t	sample_us,
		const Vector3f &	accel
	)

private

Definition at line 349 of file AP_InertialSensor_Backend.cpp.

Referenced by _notify_new_accel_raw_sample().

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◆ log_gyro_raw()

void AP_InertialSensor_Backend::log_gyro_raw	(	uint8_t	instance,
		const uint64_t	sample_us,
		const Vector3f &	gryo
	)

private

Definition at line 218 of file AP_InertialSensor_Backend.cpp.

Referenced by _notify_new_gyro_raw_sample().

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◆ notify_accel_fifo_reset()

void AP_InertialSensor_Backend::notify_accel_fifo_reset ( uint8_t instance )

protected

Definition at line 23 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS1::_fifo_reset(), and AP_InertialSensor_Invensense::_fifo_reset().

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◆ notify_fifo_reset()

void AP_InertialSensor_Backend::notify_fifo_reset ( void )

◆ notify_gyro_fifo_reset()

void AP_InertialSensor_Backend::notify_gyro_fifo_reset ( uint8_t instance )

protected

Definition at line 32 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS1::_fifo_reset(), and AP_InertialSensor_Invensense::_fifo_reset().

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◆ set_accel_orientation()

void AP_InertialSensor_Backend::set_accel_orientation	(	uint8_t	instance,
		enum Rotation	rotation
	)

inlineprotected

Definition at line 240 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_LSM9DS0::start(), AP_InertialSensor_LSM9DS1::start(), AP_InertialSensor_RST::start(), and AP_InertialSensor_Invensense::start().

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◆ set_gyro_orientation()

void AP_InertialSensor_Backend::set_gyro_orientation	(	uint8_t	instance,
		enum Rotation	rotation
	)

inlineprotected

Definition at line 236 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_LSM9DS0::start(), AP_InertialSensor_LSM9DS1::start(), AP_InertialSensor_RST::start(), and AP_InertialSensor_Invensense::start().

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◆ should_log_imu_raw()

bool AP_InertialSensor_Backend::should_log_imu_raw ( ) const

private

Definition at line 470 of file AP_InertialSensor_Backend.cpp.

Referenced by log_accel_raw(), and log_gyro_raw().

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◆ start()

virtual void AP_InertialSensor_Backend::start ( void )

inlinevirtual

Reimplemented in AP_InertialSensor_Revo, AP_InertialSensor_Invensense, AP_InertialSensor_RST, AP_InertialSensor_BMI160, AP_InertialSensor_L3G4200D, AP_InertialSensor_LSM9DS1, and AP_InertialSensor_LSM9DS0.

Definition at line 67 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor::_start_backends().

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◆ update()

virtual bool AP_InertialSensor_Backend::update ( )

pure virtual

Implemented in AP_InertialSensor_Revo, AP_InertialSensor_Invensense, AP_InertialSensor_BMI160, AP_InertialSensor_RST, AP_InertialSensor_L3G4200D, AP_InertialSensor_PX4, AP_InertialSensor_LSM9DS1, AP_InertialSensor_LSM9DS0, AP_InertialSensor_SITL, and AP_InertialSensor_HIL.

Referenced by AP_InertialSensor::update().

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◆ update_accel()

void AP_InertialSensor_Backend::update_accel ( uint8_t instance )

protected

Definition at line 450 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS0::update(), AP_InertialSensor_SITL::update(), AP_InertialSensor_LSM9DS1::update(), AP_InertialSensor_PX4::update(), AP_InertialSensor_L3G4200D::update(), AP_InertialSensor_RST::update(), AP_InertialSensor_BMI160::update(), and AP_InertialSensor_Invensense::update().

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◆ update_gyro()

void AP_InertialSensor_Backend::update_gyro ( uint8_t instance )

protected

Definition at line 427 of file AP_InertialSensor_Backend.cpp.

Referenced by AP_InertialSensor_LSM9DS0::update(), AP_InertialSensor_SITL::update(), AP_InertialSensor_LSM9DS1::update(), AP_InertialSensor_PX4::update(), AP_InertialSensor_L3G4200D::update(), AP_InertialSensor_RST::update(), AP_InertialSensor_BMI160::update(), and AP_InertialSensor_Invensense::update().

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Member Data Documentation

◆ _id

int16_t AP_InertialSensor_Backend::_id = -1

protected

Definition at line 215 of file AP_InertialSensor_Backend.h.

Referenced by AP_InertialSensor_Invensense::probe().

◆ _imu

AP_InertialSensor& AP_InertialSensor_Backend::_imu

protected

Definition at line 111 of file AP_InertialSensor_Backend.h.

◆ _last_accel_filter_hz

int8_t AP_InertialSensor_Backend::_last_accel_filter_hz[INS_MAX_INSTANCES]

protected

Definition at line 233 of file AP_InertialSensor_Backend.h.

Referenced by update_accel().

◆ _last_gyro_filter_hz

int8_t AP_InertialSensor_Backend::_last_gyro_filter_hz[INS_MAX_INSTANCES]

protected

Definition at line 234 of file AP_InertialSensor_Backend.h.

Referenced by update_gyro().

◆ _sem

AP_HAL::Semaphore* AP_InertialSensor_Backend::_sem

protected

Definition at line 114 of file AP_InertialSensor_Backend.h.

Referenced by _notify_new_accel_raw_sample(), _notify_new_gyro_raw_sample(), AP_InertialSensor_Backend(), update_accel(), and update_gyro().

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

libraries/AP_InertialSensor/AP_InertialSensor_Backend.h
libraries/AP_InertialSensor/AP_InertialSensor_Backend.cpp

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Private Member Functions

Detailed Description

Member Enumeration Documentation

◆ DevTypes

Constructor & Destructor Documentation

◆ AP_InertialSensor_Backend() [1/2]

◆ AP_InertialSensor_Backend() [2/2]

◆ ~AP_InertialSensor_Backend()

Member Function Documentation

◆ _accel_filter_cutoff()

◆ _accel_raw_sample_rate()

◆ _gyro_filter_cutoff()

◆ _gyro_raw_sample_rate()

◆ _inc_accel_error_count()

◆ _inc_gyro_error_count()

◆ _notify_new_accel_raw_sample()

◆ _notify_new_accel_sensor_rate_sample()

◆ _notify_new_gyro_raw_sample()

◆ _notify_new_gyro_sensor_rate_sample()

◆ _publish_accel()

◆ _publish_gyro()

◆ _publish_temperature()

◆ _rotate_and_correct_accel()

◆ _rotate_and_correct_gyro()

◆ _set_accel_error_count()

◆ _set_accel_max_abs_offset()

◆ _set_accel_oversampling()

◆ _set_accel_raw_sample_rate()

◆ _set_accel_sensor_rate_sampling_enabled()

◆ _set_gyro_error_count()

◆ _set_gyro_oversampling()

◆ _set_gyro_raw_sample_rate()

◆ _set_gyro_sensor_rate_sampling_enabled()

◆ _set_raw_sampl_gyro_multiplier()

◆ _set_raw_sample_accel_multiplier()

◆ _update_sensor_rate()

◆ accumulate()

◆ enable_fast_sampling()

◆ get_auxiliary_bus()

◆ get_id()

◆ get_sample_rate_hz()

◆ increment_clip_count()

◆ log_accel_raw()

◆ log_gyro_raw()

◆ notify_accel_fifo_reset()

◆ notify_fifo_reset()

◆ notify_gyro_fifo_reset()

◆ set_accel_orientation()

◆ set_gyro_orientation()

◆ should_log_imu_raw()

◆ start()

◆ update()

◆ update_accel()

◆ update_gyro()

Member Data Documentation

◆ _id

◆ _imu

◆ _last_accel_filter_hz

◆ _last_gyro_filter_hz

◆ _sem