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12 lines
1.0 KiB
12 lines
1.0 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) {}
/// @name IMU protocol
//@{
virtual void init(Start_style style) {}
virtual void init_accel(Start_style style) {};
virtual void init_gyro(Start_style style) {};
virtual bool update(void) {
bool updated = _updated;
_updated = false;
return updated;
}
//@}
/// Set the gyro vector. ::update will return
/// true once after this call.
///
/// @param v The new gyro vector.
///
void set_gyro(Vector3f v) { _gyro = v; _updated = true; }
/// Set the accelerometer vector. ::update will return
/// true once after this call.
///
/// @param v The new accelerometer vector.
///
void set_accel(Vector3f v) { _accel = v; _updated = true; }
private:
/// set true when new data is delivered
bool _updated;
};
#endif
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