PX4Gyroscope.hpp

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#pragma once

#include <drivers/device/integrator.h>
#include <drivers/drv_gyro.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <mathlib/math/filter/LowPassFilter2pVector3f.hpp>
#include <px4_platform_common/module_params.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_gyro.h>
#include <uORB/topics/sensor_gyro_control.h>

class PX4Gyroscope : public cdev::CDev, public ModuleParams
{

public:
    PX4Gyroscope(uint32_t device_id, uint8_t priority = ORB_PRIO_DEFAULT, enum Rotation rotation = ROTATION_NONE);
    ~PX4Gyroscope() override;

    int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;

    void set_device_type(uint8_t devtype);
    void set_error_count(uint64_t error_count) { _sensor_gyro_pub.get().error_count = error_count; }
    void set_scale(float scale) { _sensor_gyro_pub.get().scaling = scale; }
    void set_temperature(float temperature) { _sensor_gyro_pub.get().temperature = temperature; }

    void set_sample_rate(unsigned rate);

    void update(hrt_abstime timestamp, float x, float y, float z);

    void print_status();

private:

    void configure_filter(float cutoff_freq) { _filter.set_cutoff_frequency(_sample_rate, cutoff_freq); }

    uORB::PublicationMultiData<sensor_gyro_s>       _sensor_gyro_pub;
    uORB::PublicationMultiData<sensor_gyro_control_s>   _sensor_gyro_control_pub;

    math::LowPassFilter2pVector3f _filter{1000, 100};
    Integrator _integrator{4000, true};

    const enum Rotation _rotation;

    matrix::Vector3f    _calibration_scale{1.0f, 1.0f, 1.0f};
    matrix::Vector3f    _calibration_offset{0.0f, 0.0f, 0.0f};

    int         _class_device_instance{-1};

    unsigned        _sample_rate{1000};

    DEFINE_PARAMETERS(
        (ParamFloat<px4::params::IMU_GYRO_CUTOFF>) _param_imu_gyro_cutoff,
        (ParamInt<px4::params::IMU_GYRO_RATEMAX>) _param_imu_gyro_rate_max
    )

};