Line data    Source code

       1             : #pragma once
       2             : 
       3             : #include <AP_Logger/LogStructure.h>
       4             : 
       5             : #include <AP_Airspeed/AP_Airspeed.h>
       6             : 
       7             : class AP_DAL_Airspeed {
       8             : public:
       9             : 
      10             :     // Airspeed-like methods:
      11             : 
      12             :     // return health status of sensor
      13    12760030 :     bool healthy(uint8_t i) const {
      14    12760030 :         return _RASI[i].healthy;
      15             :     }
      16             :     // return health status of primary sensor
      17     2815766 :     bool healthy() const {
      18     2815766 :         return healthy(get_primary());
      19             :     }
      20             : 
      21             :     // return true if airspeed is enabled, and airspeed use is set
      22    12912606 :     bool use(uint8_t i) const {
      23    12912606 :         return _RASI[i].use;
      24             :     }
      25     2968482 :     bool use() const {
      26     2968482 :         return use(get_primary());
      27             :     }
      28             : 
      29             :     // return the current airspeed in m/s
      30    13140548 :     float get_airspeed(uint8_t i) const {
      31    13140548 :         return _RASI[i].airspeed;
      32             :     }
      33     3384300 :     float get_airspeed() const {
      34     3384300 :         return get_airspeed(get_primary());
      35             :     }
      36             : 
      37             :     // return time in ms of last update
      38     9938261 :     uint32_t last_update_ms(uint8_t i) const { return _RASI[i].last_update_ms; }
      39     3372106 :     uint32_t last_update_ms() const { return last_update_ms(get_primary()); }
      40             : 
      41             :     // get number of sensors
      42     7080319 :     uint8_t get_num_sensors(void) const { return _RASH.num_sensors; }
      43             : 
      44             :     // get current primary sensor
      45    28718142 :     uint8_t get_primary(void) const { return _RASH.primary; }
      46             : 
      47             :     // AP_DAL methods:
      48             :     AP_DAL_Airspeed();
      49             : 
      50             :     void start_frame();
      51             : 
      52             :     void handle_message(const log_RASH &msg) {
      53             :         _RASH = msg;
      54             :     }
      55             :     void handle_message(const log_RASI &msg) {
      56             :         _RASI[msg.instance] = msg;
      57             :     }
      58             : 
      59             : private:
      60             : 
      61             :     struct log_RASH _RASH;
      62             :     struct log_RASI _RASI[AIRSPEED_MAX_SENSORS];
      63             : };