PX4 Firmware
PX4 Autopilot Software http://px4.io
PX4Accelerometer.hpp
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33 
34 #pragma once
35 
37 #include <drivers/drv_accel.h>
38 #include <drivers/drv_hrt.h>
39 #include <lib/cdev/CDev.hpp>
42 #include <px4_platform_common/module_params.h>
43 #include <uORB/uORB.h>
46 
47 class PX4Accelerometer : public cdev::CDev, public ModuleParams
48 {
49 
50 public:
51  PX4Accelerometer(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
52  ~PX4Accelerometer() override;
53 
54  int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
55 
56  void set_device_type(uint8_t devtype);
57  void set_error_count(uint64_t error_count) { _sensor_accel_pub.get().error_count = error_count; }
58  void set_scale(float scale) { _sensor_accel_pub.get().scaling = scale; }
59  void set_temperature(float temperature) { _sensor_accel_pub.get().temperature = temperature; }
60 
61  void set_sample_rate(unsigned rate);
62 
63  void update(hrt_abstime timestamp, float x, float y, float z);
64 
65  void print_status();
66 
67 private:
68 
69  void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }
70 
72 
74  Integrator _integrator{4000, false};
75 
76  const enum Rotation _rotation;
77 
80 
82 
83  unsigned _sample_rate{1000};
84 
85  DEFINE_PARAMETERS(
86  (ParamFloat<px4::params::IMU_ACCEL_CUTOFF>) _param_imu_accel_cutoff
87  )
88 
89 };
Accelerometer driver interface.
PX4Accelerometer(uint32_t device_id, uint8_t priority=ORB_PRIO_DEFAULT, enum Rotation rotation=ROTATION_NONE)
~PX4Accelerometer() override
A class to implement a second order low pass filter on a Vector3f Based on LowPassFilter2p.hpp by Leonard Hall LeonardTHall@gmail.com
void set_sample_rate(unsigned rate)
API for the uORB lightweight object broker.
void update(hrt_abstime timestamp, float x, float y, float z)
matrix::Vector3f _calibration_offset
static int32_t device_id[max_accel_sens]
Vector rotation library.
High-resolution timer with callouts and timekeeping.
void set_error_count(uint64_t error_count)
math::LowPassFilter2pVector3f _filter
void set_cutoff_frequency(float sample_freq, float cutoff_freq)
Abstract class for any character device.
Definition: CDev.hpp:58
enum Rotation _rotation
matrix::Vector3f _calibration_scale
void set_temperature(float temperature)
void configure_filter(float cutoff_freq)
Rotation
Enum for board and external compass rotations.
Definition: rotation.h:51
int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override
Perform an ioctl operation on the device.
uint64_t error_count
Definition: sensor_accel.h:54
__BEGIN_DECLS typedef uint64_t hrt_abstime
Absolute time, in microsecond units.
Definition: drv_hrt.h:58
void set_scale(float scale)
A resettable integrator.
uORB::PublicationMultiData< sensor_accel_s > _sensor_accel_pub
void set_device_type(uint8_t devtype)