From a9dea35310bffea4d02f9b961eeaa5a9cdff7e09 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 3 Mar 2012 18:31:31 +1100
Subject: [PATCH] AP_InertialSensor: added new_data_available() interface

---
 libraries/AP_InertialSensor/AP_InertialSensor.h           | 3 +++
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp | 5 +++++
 libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h   | 1 +
 libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp  | 5 +++++
 libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h    | 1 +
 libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp    | 1 +
 libraries/AP_InertialSensor/AP_InertialSensor_Stub.h      | 1 +
 7 files changed, 17 insertions(+)

diff --git a/libraries/AP_InertialSensor/AP_InertialSensor.h b/libraries/AP_InertialSensor/AP_InertialSensor.h
index 1227122280..08067b8e1d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor.h
+++ b/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).
    */
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 3cfd3aefeb..500bfe464d 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/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; }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index b6044c36d5..fe48070ca8 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/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();
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
index 3f5e45fd0a..cbdf80fb30 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.cpp
+++ b/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; }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h b/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
index 5995dcfde5..48f43b1694 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Oilpan.h
+++ b/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();
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
index 4c917ae3b0..e88785e1c6 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp
+++ b/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; }
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h b/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
index a78b995d16..aae2bd1393 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h
+++ b/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();