AP_InertialSensor: added new_data_available() interface

libraries/AP_InertialSensor/AP_InertialSensor.h

@@ -20,6 +20,9 @@ class AP_InertialSensor
    */
   virtual bool update() = 0;
 
+  // check if the sensors have new data
+  virtual bool new_data_available(void) = 0;
+
   /* Getters for individual gyro axes.
    * Gyros have correct coordinate frame and units (degrees per second).
    */

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp

@@ -159,6 +159,11 @@ bool AP_InertialSensor_MPU6000::update( void )
 	return true;
 }
 
+bool AP_InertialSensor_MPU6000::new_data_available( void )
+{
+    return _count != 0;
+}
+
 float AP_InertialSensor_MPU6000::gx() { return _gyro.x; }
 float AP_InertialSensor_MPU6000::gy() { return _gyro.y; }
 float AP_InertialSensor_MPU6000::gz() { return _gyro.z; }

libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h

@@ -20,6 +20,7 @@ class AP_InertialSensor_MPU6000 : public AP_InertialSensor
 
   /* Concrete implementation of AP_InertialSensor functions: */
   bool update();
+  bool new_data_available();
   float gx();
   float gy();
   float gz();

libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp

@@ -71,6 +71,11 @@ bool AP_InertialSensor_Oilpan::update()
   return true;
 }
 
+bool AP_InertialSensor_Oilpan::new_data_available( void )
+{
+    return _adc->new_data_available(_sensors);
+}
+
 float AP_InertialSensor_Oilpan::gx() { return _gyro.x; }
 float AP_InertialSensor_Oilpan::gy() { return _gyro.y; }
 float AP_InertialSensor_Oilpan::gz() { return _gyro.z; }

libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h

@@ -19,6 +19,7 @@ class AP_InertialSensor_Oilpan : public AP_InertialSensor
   /* Concrete implementation of AP_InertialSensor functions: */
   void init(AP_PeriodicProcess * scheduler);
   bool update();
+  bool new_data_available();
   float gx();
   float gy();
   float gz();

libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp

@@ -7,6 +7,7 @@ void AP_InertialSensor_Stub::init( AP_PeriodicProcess * scheduler ) {}
 /*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
 
 bool AP_InertialSensor_Stub::update( void ) { return true; }
+bool AP_InertialSensor_Stub::new_data_available( void ) { return true; }
 
 
 float AP_InertialSensor_Stub::gx() { return 0.0f; }

libraries/AP_InertialSensor/AP_InertialSensor_Stub.h

@@ -19,6 +19,7 @@ class AP_InertialSensor_Stub : public AP_InertialSensor
 
   /* Concrete implementation of AP_InertialSensor functions: */
   bool update();
+  bool new_data_available();
   float gx();
   float gy();
   float gz();