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46 lines
1014 B
46 lines
1014 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#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 == NULL) { |
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return NULL; |
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} |
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if (!sensor->_init_sensor()) { |
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delete sensor; |
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return NULL; |
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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); |
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_imu.register_accel(1200); |
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_product_id = AP_PRODUCT_ID_NONE; |
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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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