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AP_ExternalAHRS: Clarify public interface design intent

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* Discussions with Tridge on design intent for these accessors

Signed-off-by: Ryan Friedman <ryanfriedman5410+github@gmail.com>
This commit is contained in:
Ryan Friedman 2023-11-24 18:14:55 -07:00 committed by Andrew Tridgell
parent d9d5e91110
commit be668ddc1b
1 changed files with 9 additions and 3 deletions
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12
libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.h
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@ -32,16 +32,22 @@ public:
// Get model/type name // Get model/type name
virtual const char* get_name() const = 0; virtual const char* get_name() const = 0;
// accessors for AP_AHRS // Accessors for AP_AHRS
// If not healthy, none of the other API's can be trusted.
// Example: Serial cable is severed.
virtual bool healthy(void) const = 0; virtual bool healthy(void) const = 0;
// The communication interface is up and the device has sent valid data.
virtual bool initialised(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 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 get_filter_status(nav_filter_status &status) const {}
virtual void send_status_report(class GCS_MAVLINK &link) const {} virtual void send_status_report(class GCS_MAVLINK &link) const {}
// check for new data // Check for new data.
// This is used when there's not a separate thread for EAHRS.
// This can also copy interim state protected by locking.
virtual void update() = 0; virtual void update() = 0;
protected: protected:
AP_ExternalAHRS::state_t &state; AP_ExternalAHRS::state_t &state;
uint16_t get_rate(void) const; uint16_t get_rate(void) const;