orientation_sensor.h

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#ifndef orientation_sensor_H_
#define orientation_sensor_H_
 
#ifndef BOARD_USES_HW_GPIO_NUMBERS
#define BOARD_USES_HW_GPIO_NUMBERS
#endif
 
#include "sensor_fusion_class.h"  // for OrientationSensorFusion-ESP library
#include "signalk_orientation.h"
 
class OrientationSensor {
 public:
  OrientationSensor(uint8_t pin_i2c_sda, uint8_t pin_i2c_scl,
                    uint8_t accel_mag_i2c_addr, uint8_t gyro_i2c_addr);
  SensorFusion* sensor_interface_;  
  void ReadAndProcessSensors(void);  
  int GetFusionRateHz(void);
 private:
};
 
 
//sensESP v2 replaced NumericSensor with various sub-types  class OrientationValues : public NumericSensor {
class OrientationValues  {
 public:
  enum OrientationValType {
    kCompassHeading,      
    kYaw,                 
    kPitch,               
    kRoll,                
    kAttitude,            
    kAccelerationX,       
    kAccelerationY,       
    kAccelerationZ,       
    kRateOfTurn,          
    kRateOfPitch,         
    kRateOfRoll,          
    kTemperature,         
    kMagCalFitInUse,      
    kMagCalFitTrial,      
    kMagCalAlgorithmSolver,   
    kMagInclination,      
    kMagFieldMagnitude,   
    kMagFieldMagnitudeTrial,  
    kMagNoiseCovariance   
  };
  OrientationValues(OrientationSensor* orientation_sensor,
                    OrientationValType value_type = kCompassHeading);
//sensESP v3 removes start()
  //void start() override final;  ///< starts periodic outputs of Attitude
  OrientationSensor*
      orientation_sensor_;  
 float ReportValue(void);  
 
 private:
  //SensESPv3 requires inheriting from Configurable and explicitly calling ConfigItem()
  //virtual void get_configuration(JsonObject& doc) override;
  //virtual bool set_configuration(const JsonObject& config) override;
  //virtual String get_config_schema() override;
  OrientationValType
      value_type_;  
  uint report_interval_ms_;  
  int8_t save_mag_cal_;      
  int throttlePrint_;
 
};  // end class OrientationValues2
 
 
#endif  // ORIENTATION_SENSOR_H_