Last change
on this file since 176 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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[10] | 1 | // %flair:license{
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[15] | 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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[10] | 4 | // %flair:license}
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[7] | 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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[15] | 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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[137] | 32 | * Construct an Ahrs for 3dmgx3-25. It will be child of the FrameworkManager.
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[15] | 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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[137] | 39 | Gx3_25_ahrs(std::string name,
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[15] | 40 | core::SerialPort *serialport,
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| 41 | sensor::Gx3_25_imu::Command_t command, uint8_t priority);
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[7] | 42 |
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[15] | 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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[7] | 48 |
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[15] | 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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[7] | 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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