Joseph Roberts / Mbed 2 deprecated Quadcopter_mk2

New version of quadcopter software written to OO principles

Dependencies:   mbed MODSERIAL filter mbed-rtos ConfigFile PID PPM FreeIMU_external_magnetometer TinyGPS

Sensors/Sensors.h@3:4823d6750629, 2015-04-24 (annotated)

Committer:
joe4465
Date:
Fri Apr 24 16:50:20 2015 +0000
Revision:
3:4823d6750629
Parent:
2:969dfa4f2436
Child:
4:9ffbf9101992
Altitude mode working.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
joe4465 2:969dfa4f2436 1 #include "mbed.h"
joe4465 2:969dfa4f2436 2 #include "Global.h"
joe4465 2:969dfa4f2436 3 #include "rtos.h"
joe4465 2:969dfa4f2436 4 #include "Gps.h"
joe4465 2:969dfa4f2436 5 #include "Imu.h"
joe4465 2:969dfa4f2436 6 #include "Status.h"
joe4465 2:969dfa4f2436 7 #include "LidarLitePwm.h"
joe4465 2:969dfa4f2436 8 #include "Kalman.h"
joe4465 3:4823d6750629 9 #include <math.h>
joe4465 2:969dfa4f2436 10
joe4465 2:969dfa4f2436 11 #ifndef Sensors_H
joe4465 2:969dfa4f2436 12 #define Sensors_H
joe4465 2:969dfa4f2436 13
joe4465 3:4823d6750629 14 //#define PI 3.14159265
joe4465 3:4823d6750629 15
joe4465 3:4823d6750629 16 using namespace std;
joe4465 2:969dfa4f2436 17
joe4465 2:969dfa4f2436 18 class Sensors
joe4465 2:969dfa4f2436 19 {
joe4465 2:969dfa4f2436 20 public:
joe4465 2:969dfa4f2436 21 Sensors(Status& status, ConfigFileWrapper& configFileWrapper, PinName gpsPinTx, PinName gpsPinRx, PinName i2cSda, PinName i2cScl, PinName lidarInterrupt);
joe4465 2:969dfa4f2436 22 ~Sensors();
joe4465 2:969dfa4f2436 23
joe4465 2:969dfa4f2436 24 struct Position
joe4465 2:969dfa4f2436 25 {
joe4465 3:4823d6750629 26 Gps::Value gpsPosition;
joe4465 2:969dfa4f2436 27 double computedX;
joe4465 2:969dfa4f2436 28 double computedY;
joe4465 2:969dfa4f2436 29 };
joe4465 2:969dfa4f2436 30
joe4465 2:969dfa4f2436 31 struct Altitude
joe4465 2:969dfa4f2436 32 {
joe4465 2:969dfa4f2436 33 double lidar;
joe4465 2:969dfa4f2436 34 double barometer;
joe4465 2:969dfa4f2436 35 double gps;
joe4465 2:969dfa4f2436 36 double computed;
joe4465 2:969dfa4f2436 37 };
joe4465 2:969dfa4f2436 38
joe4465 2:969dfa4f2436 39 void update();
joe4465 2:969dfa4f2436 40 Imu::Rate getRate();
joe4465 2:969dfa4f2436 41 Imu::Angle getAngle();
joe4465 2:969dfa4f2436 42 Gps::Value getGpsValues();
joe4465 3:4823d6750629 43 Imu::Velocity getImuVelocity();
joe4465 2:969dfa4f2436 44 Sensors::Altitude getAltitude();
joe4465 2:969dfa4f2436 45 Sensors::Position getPosition();
joe4465 2:969dfa4f2436 46 void enable(bool enable);
joe4465 2:969dfa4f2436 47 void zeroBarometer();
joe4465 2:969dfa4f2436 48 void updateImu();
joe4465 2:969dfa4f2436 49 void zeroAccel();
joe4465 3:4823d6750629 50 void zeroPos();
joe4465 2:969dfa4f2436 51
joe4465 2:969dfa4f2436 52 private:
joe4465 2:969dfa4f2436 53 void zeroGyro();
joe4465 2:969dfa4f2436 54 void updateGpsValues();
joe4465 2:969dfa4f2436 55 void updateAltitude();
joe4465 2:969dfa4f2436 56 void updateVelocity();
joe4465 2:969dfa4f2436 57 void updatePosition();
joe4465 2:969dfa4f2436 58 int getLidarAltitude();
joe4465 3:4823d6750629 59 double toRadian(double deg);
joe4465 2:969dfa4f2436 60
joe4465 2:969dfa4f2436 61 Status& _status;
joe4465 2:969dfa4f2436 62 Imu::Rate _rate;
joe4465 2:969dfa4f2436 63 Imu::Angle _angle;
joe4465 2:969dfa4f2436 64 Position _position;
joe4465 3:4823d6750629 65 Position _startingPosition;
joe4465 2:969dfa4f2436 66 Altitude _altitude;
joe4465 2:969dfa4f2436 67 Gps::Value _gpsValues;
joe4465 2:969dfa4f2436 68 Imu* _imu;
joe4465 2:969dfa4f2436 69 Gps* _gps;
joe4465 2:969dfa4f2436 70 LidarLitePwm* _lidar;
joe4465 2:969dfa4f2436 71 Kalman* _altitudeKalmanFilter;
joe4465 3:4823d6750629 72 Kalman* _xPosKalmanFilter;
joe4465 3:4823d6750629 73 Kalman* _yPosKalmanFilter;
joe4465 2:969dfa4f2436 74 };
joe4465 2:969dfa4f2436 75
joe4465 2:969dfa4f2436 76 #endif