Last change
on this file since 197 was 157, checked in by Sanahuja Guillaume, 8 years ago |
iadded isready to iodevice:
avoid problem of imu not ready in ardrone2
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File size:
1.3 KB
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1 | // %flair:license{
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2 | // This file is part of the Flair framework distributed under the
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3 | // CECILL-C License, Version 1.0.
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4 | // %flair:license}
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5 | /*!
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6 | * \file Gx3_25_ahrs.h
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7 | * \brief Class for 3dmgx3-25 ahrs
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8 | * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
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9 | * \date 2013/01/16
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10 | * \version 4.0
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11 | */
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12 |
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13 | #ifndef GX3_25_AHRS_H
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14 | #define GX3_25_AHRS_H
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15 |
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16 | #include <Ahrs.h>
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17 | #include <Gx3_25_imu.h>
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18 |
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19 | namespace flair {
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20 | namespace filter {
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21 | /*! \class Gx3_25_ahrs
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22 | *
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23 | * \brief Class for 3dmgx3-25 ahrs
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24 | *
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25 | * This class constructs a Gx3_25_imu as Imu of this Ahrs.
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26 | */
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27 | class Gx3_25_ahrs : public Ahrs {
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28 | public:
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29 | /*!
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30 | * \brief Constructor
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31 | *
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32 | * Construct an Ahrs for 3dmgx3-25. It will be child of the FrameworkManager.
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33 | *
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34 | * \param name name
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35 | * \param serialport Imu SerialPort
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36 | * \param command command for the Gx3_25_imu continuous mode
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37 | * \param priority priority of the Gx3_25_imu Thread
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38 | */
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39 | Gx3_25_ahrs(std::string name,
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40 | core::SerialPort *serialport,
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41 | sensor::Gx3_25_imu::Command_t command, uint8_t priority);
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42 |
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43 | /*!
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44 | * \brief Destructor
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45 | *
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46 | */
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47 | ~Gx3_25_ahrs();
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48 |
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49 | private:
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50 | /*!
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51 | * \brief Update using provided datas
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52 | *
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53 | * Reimplemented from IODevice.
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54 | *
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55 | * \param data data from the parent to process
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56 | */
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57 | void UpdateFrom(const core::io_data *data);
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58 | };
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59 | } // end namespace filter
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60 | } // end namespace flair
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61 | #endif // GX3_25_AHRS_H
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