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51 lines
1.5 KiB
51 lines
1.5 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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/* |
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parent class for ExternalAHRS backends |
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*/ |
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#pragma once |
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#include "AP_ExternalAHRS.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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class AP_ExternalAHRS_backend { |
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public: |
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AP_ExternalAHRS_backend(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state); |
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// get serial port number, -1 for not enabled |
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virtual int8_t get_port(void) const { return -1; } |
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// accessors for AP_AHRS |
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virtual bool healthy(void) const = 0; |
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virtual bool initialised(void) const = 0; |
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virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0; |
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virtual void get_filter_status(nav_filter_status &status) const {} |
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virtual void send_status_report(class GCS_MAVLINK &link) const {} |
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// check for new data |
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virtual void update() = 0; |
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protected: |
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AP_ExternalAHRS::state_t &state; |
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uint16_t get_rate(void) const; |
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private: |
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AP_ExternalAHRS &frontend; |
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}; |
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#endif // HAL_EXTERNAL_AHRS_ENABLED |
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