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43 lines
912 B
43 lines
912 B
#include <AP_HAL/AP_HAL.h> |
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#include "AP_InertialSensor_HIL.h" |
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const extern AP_HAL::HAL& hal; |
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AP_InertialSensor_HIL::AP_InertialSensor_HIL(AP_InertialSensor &imu) : |
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AP_InertialSensor_Backend(imu) |
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{ |
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} |
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/* |
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detect the sensor |
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*/ |
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AP_InertialSensor_Backend *AP_InertialSensor_HIL::detect(AP_InertialSensor &_imu) |
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{ |
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AP_InertialSensor_HIL *sensor = new AP_InertialSensor_HIL(_imu); |
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if (sensor == nullptr) { |
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return nullptr; |
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} |
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if (!sensor->_init_sensor()) { |
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delete sensor; |
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return nullptr; |
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} |
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return sensor; |
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} |
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bool AP_InertialSensor_HIL::_init_sensor(void) |
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{ |
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// grab the used instances |
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_imu.register_gyro(1200, 1); |
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_imu.register_accel(1200, 1); |
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_imu.set_hil_mode(); |
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return true; |
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} |
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bool AP_InertialSensor_HIL::update(void) |
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{ |
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// the data is stored directly in the frontend, so update() |
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// doesn't need to do anything |
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return true; |
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}
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