You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
36 lines
1.2 KiB
36 lines
1.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
|
|
|
#ifndef __AP_INERTIAL_SENSOR_STUB_H__ |
|
#define __AP_INERTIAL_SENSOR_STUB_H__ |
|
|
|
#include <AP_Progmem.h> |
|
#include "AP_InertialSensor.h" |
|
|
|
class AP_InertialSensor_HIL : public AP_InertialSensor |
|
{ |
|
public: |
|
|
|
AP_InertialSensor_HIL(); |
|
|
|
/* Concrete implementation of AP_InertialSensor functions: */ |
|
bool update(); |
|
float get_delta_time() const; |
|
float get_gyro_drift_rate(); |
|
bool wait_for_sample(uint16_t timeout_ms); |
|
void set_accel(uint8_t instance, const Vector3f &accel); |
|
void set_gyro(uint8_t instance, const Vector3f &gyro); |
|
bool get_gyro_health(uint8_t instance) const; |
|
bool get_accel_health(uint8_t instance) const; |
|
uint8_t get_gyro_count(void) const; |
|
uint8_t get_accel_count(void) const; |
|
|
|
private: |
|
bool _sample_available(); |
|
uint16_t _init_sensor( Sample_rate sample_rate ); |
|
uint32_t _sample_period_usec; |
|
uint32_t _last_sample_usec; |
|
uint32_t _last_accel_usec[INS_MAX_INSTANCES]; |
|
uint32_t _last_gyro_usec[INS_MAX_INSTANCES]; |
|
}; |
|
|
|
#endif // __AP_INERTIAL_SENSOR_STUB_H__
|
|
|