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59 lines
1.3 KiB
59 lines
1.3 KiB
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*- |
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/// @file AP_IMU_Shim.h |
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/// @brief IMU shim driver, used when the IMU data is coming from somewhere else. |
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#ifndef AP_IMU_Shim_h |
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#define AP_IMU_Shim_h |
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class AP_IMU_Shim : public IMU |
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{ |
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public: |
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AP_IMU_Shim(void) {} |
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/// @name IMU protocol |
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//@{ |
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virtual void init(Start_style style) {} |
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virtual void init_accel() {}; |
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virtual void init_gyro() {}; |
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virtual bool update(void) { |
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bool updated = _updated; |
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_updated = false; |
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return updated; |
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} |
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//@} |
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float gx() { return 0; } |
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float gy() { return 0; } |
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float gz() { return 0; } |
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float ax() { return 0; } |
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float ay() { return 0; } |
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float az() { return 0; } |
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void ax(const int v) { } |
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void ay(const int v) { } |
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void az(const int v) { } |
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/// Set the gyro vector. ::update will return |
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/// true once after this call. |
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/// |
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/// @param v The new gyro vector. |
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/// |
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void set_gyro(Vector3f v) { _gyro = v; _updated = true; } |
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/// Set the accelerometer vector. ::update will return |
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/// true once after this call. |
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/// |
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/// @param v The new accelerometer vector. |
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/// |
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void set_accel(Vector3f v) { _accel = v; _updated = true; } |
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// dummy save method |
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void save(void) { } |
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private: |
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/// set true when new data is delivered |
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bool _updated; |
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}; |
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#endif
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