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34 lines
1.0 KiB
34 lines
1.0 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef __AP_INERTIAL_SENSOR_STUB_H__ |
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#define __AP_INERTIAL_SENSOR_STUB_H__ |
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#include <AP_Progmem.h> |
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#include "AP_InertialSensor.h" |
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class AP_InertialSensor_HIL : public AP_InertialSensor |
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{ |
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public: |
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AP_InertialSensor_HIL(); |
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/* Concrete implementation of AP_InertialSensor functions: */ |
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bool update(); |
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float get_delta_time(); |
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float get_gyro_drift_rate(); |
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bool wait_for_sample(uint16_t timeout_ms); |
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void set_accel(const Vector3f &accel); |
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void set_gyro(const Vector3f &gyro); |
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bool healthy(void) const; |
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private: |
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bool _sample_available(); |
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uint16_t _init_sensor( Sample_rate sample_rate ); |
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uint32_t _sample_period_ms; |
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uint32_t _last_update_ms; |
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uint32_t _delta_time_usec; |
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uint32_t _last_accel_usec; |
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uint32_t _last_gyro_usec; |
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}; |
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#endif // __AP_INERTIAL_SENSOR_STUB_H__
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