#include <AP_InertialSensor_PX4.h>

Inheritance diagram for AP_InertialSensor_PX4:

Collaboration diagram for AP_InertialSensor_PX4:

Public Member Functions
	AP_InertialSensor_PX4 (AP_InertialSensor &imu)

bool	update ()

void	accumulate (void) override

Public Member Functions inherited from AP_InertialSensor_Backend
	AP_InertialSensor_Backend (AP_InertialSensor &imu)

	AP_InertialSensor_Backend (const AP_InertialSensor_Backend &that)=delete

virtual	~AP_InertialSensor_Backend (void)

virtual void	start ()

virtual AuxiliaryBus *	get_auxiliary_bus ()

int16_t	get_id () const

void	notify_fifo_reset (void)

Static Public Member Functions
static AP_InertialSensor_Backend *	detect (AP_InertialSensor &imu)

Private Member Functions
bool	_init_sensor (void)

void	_get_sample (void)

void	_new_accel_sample (uint8_t i, accel_report &accel_report)

void	_new_gyro_sample (uint8_t i, gyro_report &gyro_report)

bool	_get_gyro_sample (uint8_t i, struct gyro_report &gyro_report)

bool	_get_accel_sample (uint8_t i, struct accel_report &accel_report)

uint8_t	_queue_depth (uint16_t sensor_sample_rate) const

Private Attributes
uint64_t	_last_accel_timestamp [INS_MAX_INSTANCES]

uint64_t	_last_gyro_timestamp [INS_MAX_INSTANCES]

float	_accel_sample_time [INS_MAX_INSTANCES]

float	_gyro_sample_time [INS_MAX_INSTANCES]

uint8_t	_num_accel_instances

uint8_t	_num_gyro_instances

int	_accel_fd [INS_MAX_INSTANCES]

int	_gyro_fd [INS_MAX_INSTANCES]

uint8_t	_accel_instance [INS_MAX_INSTANCES]

uint8_t	_gyro_instance [INS_MAX_INSTANCES]

Additional Inherited Members
Public Types inherited from AP_InertialSensor_Backend
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 }

Protected Member Functions inherited from AP_InertialSensor_Backend
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 inherited from AP_InertialSensor_Backend
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]

Detailed Description

Definition at line 16 of file AP_InertialSensor_PX4.h.

Constructor & Destructor Documentation

◆ AP_InertialSensor_PX4()

AP_InertialSensor_PX4::AP_InertialSensor_PX4 ( AP_InertialSensor & imu )

Definition at line 19 of file AP_InertialSensor_PX4.cpp.

Referenced by detect().

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Member Function Documentation

◆ _get_accel_sample()

bool AP_InertialSensor_PX4::_get_accel_sample	(	uint8_t	i,
		struct accel_report &	accel_report
	)

private

Definition at line 283 of file AP_InertialSensor_PX4.cpp.

Referenced by _get_sample().

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◆ _get_gyro_sample()

bool AP_InertialSensor_PX4::_get_gyro_sample	(	uint8_t	i,
		struct gyro_report &	gyro_report
	)

private

Definition at line 294 of file AP_InertialSensor_PX4.cpp.

Referenced by _get_sample().

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◆ _get_sample()

void AP_InertialSensor_PX4::_get_sample ( void )

private

Definition at line 251 of file AP_InertialSensor_PX4.cpp.

Referenced by accumulate(), and update().

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◆ _init_sensor()

bool AP_InertialSensor_PX4::_init_sensor ( void )

private

Definition at line 53 of file AP_InertialSensor_PX4.cpp.

Referenced by accumulate(), and detect().

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◆ _new_accel_sample()

void AP_InertialSensor_PX4::_new_accel_sample	(	uint8_t	i,
		accel_report &	accel_report
	)

private

Definition at line 178 of file AP_InertialSensor_PX4.cpp.

Referenced by _get_sample().

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◆ _new_gyro_sample()

void AP_InertialSensor_PX4::_new_gyro_sample	(	uint8_t	i,
		gyro_report &	gyro_report
	)

private

Definition at line 216 of file AP_InertialSensor_PX4.cpp.

Referenced by _get_sample().

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◆ _queue_depth()

uint8_t AP_InertialSensor_PX4::_queue_depth ( uint16_t sensor_sample_rate ) const

private

Definition at line 44 of file AP_InertialSensor_PX4.cpp.

Referenced by _init_sensor().

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◆ accumulate()

void AP_InertialSensor_PX4::accumulate ( void )

inlineoverridevirtual

Reimplemented from AP_InertialSensor_Backend.

Definition at line 29 of file AP_InertialSensor_PX4.h.

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◆ detect()

AP_InertialSensor_Backend * AP_InertialSensor_PX4::detect ( AP_InertialSensor & imu )

static

Definition at line 27 of file AP_InertialSensor_PX4.cpp.

Referenced by AP_InertialSensor::detect_backends().

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◆ update()

bool AP_InertialSensor_PX4::update ( void )

virtual

Implements AP_InertialSensor_Backend.

Definition at line 162 of file AP_InertialSensor_PX4.cpp.

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Member Data Documentation

◆ _accel_fd

int AP_InertialSensor_PX4::_accel_fd[INS_MAX_INSTANCES]

private

Definition at line 52 of file AP_InertialSensor_PX4.h.

Referenced by _get_accel_sample(), and _init_sensor().

◆ _accel_instance

uint8_t AP_InertialSensor_PX4::_accel_instance[INS_MAX_INSTANCES]

private

Definition at line 57 of file AP_InertialSensor_PX4.h.

Referenced by _init_sensor(), _new_accel_sample(), and update().

◆ _accel_sample_time

float AP_InertialSensor_PX4::_accel_sample_time[INS_MAX_INSTANCES]

private

Definition at line 36 of file AP_InertialSensor_PX4.h.

Referenced by _init_sensor(), and _new_accel_sample().

◆ _gyro_fd

int AP_InertialSensor_PX4::_gyro_fd[INS_MAX_INSTANCES]

private

Definition at line 53 of file AP_InertialSensor_PX4.h.

Referenced by _get_gyro_sample(), and _init_sensor().

◆ _gyro_instance

uint8_t AP_InertialSensor_PX4::_gyro_instance[INS_MAX_INSTANCES]

private

Definition at line 58 of file AP_InertialSensor_PX4.h.

Referenced by _init_sensor(), _new_gyro_sample(), and update().

◆ _gyro_sample_time

float AP_InertialSensor_PX4::_gyro_sample_time[INS_MAX_INSTANCES]

private

Definition at line 37 of file AP_InertialSensor_PX4.h.

Referenced by _init_sensor(), and _new_gyro_sample().

◆ _last_accel_timestamp

uint64_t AP_InertialSensor_PX4::_last_accel_timestamp[INS_MAX_INSTANCES]

private

Definition at line 34 of file AP_InertialSensor_PX4.h.

Referenced by _get_accel_sample(), and _new_accel_sample().

◆ _last_gyro_timestamp

uint64_t AP_InertialSensor_PX4::_last_gyro_timestamp[INS_MAX_INSTANCES]

private

Definition at line 35 of file AP_InertialSensor_PX4.h.

Referenced by _get_gyro_sample(), and _new_gyro_sample().

◆ _num_accel_instances

uint8_t AP_InertialSensor_PX4::_num_accel_instances

private

Definition at line 49 of file AP_InertialSensor_PX4.h.

Referenced by _get_accel_sample(), _get_sample(), _init_sensor(), and update().

◆ _num_gyro_instances

uint8_t AP_InertialSensor_PX4::_num_gyro_instances

private

Definition at line 50 of file AP_InertialSensor_PX4.h.

Referenced by _get_gyro_sample(), _get_sample(), _init_sensor(), and update().

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

libraries/AP_InertialSensor/AP_InertialSensor_PX4.h
libraries/AP_InertialSensor/AP_InertialSensor_PX4.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AP_InertialSensor_PX4()

Member Function Documentation

◆ _get_accel_sample()

◆ _get_gyro_sample()

◆ _get_sample()

◆ _init_sensor()

◆ _new_accel_sample()

◆ _new_gyro_sample()

◆ _queue_depth()

◆ accumulate()

◆ detect()

◆ update()

Member Data Documentation

◆ _accel_fd

◆ _accel_instance

◆ _accel_sample_time

◆ _gyro_fd

◆ _gyro_instance

◆ _gyro_sample_time

◆ _last_accel_timestamp

◆ _last_gyro_timestamp

◆ _num_accel_instances

◆ _num_gyro_instances