CoCalc Logo Icon
StoreFeaturesDocsShareSupportNewsAboutSign UpSign In
Ardupilot

Real-time collaboration for Jupyter Notebooks, Linux Terminals, LaTeX, VS Code, R IDE, and more,
all in one place. Commercial Alternative to JupyterHub.

GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Airspeed/AP_Airspeed_DroneCAN.h
Views: 1798
1
#pragma once

2


3
#include "AP_Airspeed_config.h"

4


5
#if AP_AIRSPEED_DRONECAN_ENABLED

6


7
#include "AP_Airspeed_Backend.h"

8


9
#include <AP_DroneCAN/AP_DroneCAN.h>

10


11
class AP_Airspeed_DroneCAN : public AP_Airspeed_Backend {

12
public:

13


14
    using AP_Airspeed_Backend::AP_Airspeed_Backend;

15


16
    bool init(void) override;

17


18
    // return the current differential_pressure in Pascal

19
    bool get_differential_pressure(float &pressure) override;

20


21
    // temperature not available via analog backend

22
    bool get_temperature(float &temperature) override;

23


24
#if AP_AIRSPEED_HYGROMETER_ENABLE

25
    // get hygrometer data

26
    bool get_hygrometer(uint32_t &last_sample_ms, float &temperature, float &humidity) override;

27
#endif

28


29
    static bool subscribe_msgs(AP_DroneCAN* ap_dronecan);

30


31
    static AP_Airspeed_Backend* probe(AP_Airspeed &_frontend, uint8_t _instance, uint32_t previous_devid);

32


33
private:

34


35
    static void handle_airspeed(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const uavcan_equipment_air_data_RawAirData &msg);

36
    static void handle_hygrometer(AP_DroneCAN *ap_dronecan, const CanardRxTransfer& transfer, const dronecan_sensors_hygrometer_Hygrometer &msg);

37


38
    static AP_Airspeed_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);

39


40
    float _pressure; // Pascal

41
    float _temperature; // Celcius

42
    uint32_t _last_sample_time_ms;

43


44
    // hygrometer data

45
    struct {

46
        float temperature;

47
        float humidity;

48
        uint32_t last_sample_ms;

49
    } _hygrometer;

50


51
    HAL_Semaphore _sem_airspeed;

52


53
    // Module Detection Registry

54
    static struct DetectedModules {

55
        AP_DroneCAN* ap_dronecan;

56
        uint8_t node_id;

57
        AP_Airspeed_DroneCAN *driver;

58
    } _detected_modules[AIRSPEED_MAX_SENSORS];

59


60
    static HAL_Semaphore _sem_registry;

61
    bool _have_temperature;

62
};

63


64


65
#endif  // AP_AIRSPEED_DRONECAN_ENABLED

66


67