Diff: Sensors/Imu/Imu.h

Revision:

2:969dfa4f2436

Parent:

0:c6a85bb2a827

Child:

3:4823d6750629

--- a/Sensors/Imu/Imu.h	Wed Mar 04 18:53:43 2015 +0000
+++ b/Sensors/Imu/Imu.h	Wed Apr 01 11:19:21 2015 +0000
@@ -0,0 +1,65 @@
+#include "mbed.h"
+#include "Global.h"
+#include "FreeIMU.h"
+#include "filter.h"
+#include "ConfigFileWrapper.h"
+#include "Kalman.h"
+
+#ifndef Imu_H
+#define Imu_H
+
+class Imu                
+{
+  public:             
+    Imu(ConfigFileWrapper& configFileWrapper);    
+    ~Imu();
+    
+    struct Rate
+    {
+       double yaw;
+       double pitch;
+       double roll;
+    };
+    
+    struct Angle
+    {
+       double yaw;
+       double pitch;
+       double roll;
+    };  
+    
+    struct Velocity
+    {
+        double x;
+        double y;
+        double z;
+    };  
+    
+    void enable(bool enable);
+    
+    Rate getRate();
+    Angle getAngle(bool bias = true);
+    float getVelocity(float time);
+    float getVelocity();
+    double getAltitude();
+    
+    void zeroGyro();
+    void zeroBarometer();
+    void zeroAccel();
+    void setCurrentVelocity(float velocity);
+    
+  private:
+    FreeIMU _freeImu;
+    filter* _barometerZeroFilter;
+    filter* _barometerFilter;
+    Rate _rate;
+    Angle _angle;
+    float _velocity;
+    float _barometerZero;
+    ConfigFileWrapper& _configFileWrapper;
+    float _accelZeroPitch;
+    float _accelZeroRoll;
+    Kalman* _kalmanFilter;
+};
+
+#endif
\ No newline at end of file