mirror of
https://github.com/ArduPilot/ardupilot
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31 lines
711 B
C
31 lines
711 B
C
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#pragma once
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#include "AP_InertialSensor.h"
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include <AP_HAL_Linux/qflight/qflight_buffer.h>
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class AP_InertialSensor_QFLIGHT : public AP_InertialSensor_Backend
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{
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public:
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AP_InertialSensor_QFLIGHT(AP_InertialSensor &imu);
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/* update accel and gyro state */
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bool update();
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// detect the sensor
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static AP_InertialSensor_Backend *detect(AP_InertialSensor &imu);
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private:
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bool init_sensor(void);
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void timer_update();
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uint8_t gyro_instance;
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uint8_t accel_instance;
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DSPBuffer::IMU *imubuf;
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};
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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