ardupilot/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
parent class for ExternalAHRS backends
*/
#pragma once
#include "AP_ExternalAHRS.h"
#if HAL_EXTERNAL_AHRS_ENABLED
class AP_ExternalAHRS_backend {
public:
AP_ExternalAHRS_backend(AP_ExternalAHRS *frontend, AP_ExternalAHRS::state_t &state);
// get serial port number, -1 for not enabled
virtual int8_t get_port(void) const { return -1; }
// Get model/type name
virtual const char* get_name() const = 0;
// accessors for AP_AHRS
virtual bool healthy(void) const = 0;
virtual bool initialised(void) const = 0;
virtual bool pre_arm_check(char *failure_msg, uint8_t failure_msg_len) const = 0;
virtual void get_filter_status(nav_filter_status &status) const {}
virtual void send_status_report(class GCS_MAVLINK &link) const {}
// check for new data
virtual void update() = 0;
protected:
AP_ExternalAHRS::state_t &state;
uint16_t get_rate(void) const;
bool option_is_set(AP_ExternalAHRS::OPTIONS option) const;
private:
AP_ExternalAHRS &frontend;
};
#endif // HAL_EXTERNAL_AHRS_ENABLED