/home/travis/build/lis-epfl/MAVRIC_Library/drivers/barometer.hpp

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/*******************************************************************************
 * \file barometer.hpp
 *
 * \author MAV'RIC Team
 * \author Gregoire Heitz
 * \author Julien Lecoeur
 *
 * \brief Interface class for barometers
 *
 ******************************************************************************/


#ifndef BAROMETER_HPP_
#define BAROMETER_HPP_

#include <cstdint>
#include <cfloat>

class Barometer
{
public:
    Barometer(float pressure_at_sea_level = 101325.0f);

    virtual bool init(void) = 0;


    virtual bool update(void) = 0;


    virtual uint64_t last_update_us(void) const = 0;


    virtual float pressure(void)  const = 0;


    virtual float altitude_gf(void) const = 0;


    virtual float altitude_gf_raw(void) const = 0;


    virtual float vertical_speed_lf(void) const = 0;


    virtual float vertical_speed_lf_raw(void) const = 0;


    virtual float temperature(void) const = 0;

    static float pressure_at_sea_level(void);

    static float compute_altitude_from_pressure(float pressure, float pressure_at_sea_level_ = pressure_at_sea_level());


    static float compute_pressure_at_sea_level(float pressure, float altitude);


protected:
    static void set_pressure_at_sea_level(float pressure_at_sea_level);


private:
    static float pressure_at_sea_level_;    
};

static inline bool task_barometer_update(Barometer* barometer)
{
    return barometer->update();
};

#endif /* BAROMETER_HPP_ */