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uncrustify libraries/AP_InertialSensor/AP_InertialSensor.h

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uncrustify 2012-08-16 23:19:56 -07:00 committed by Pat Hickey
parent 9d7ca3a876
commit c3de56ba94
1 changed files with 41 additions and 40 deletions
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81
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -10,57 +10,58 @@
*/ */
class AP_InertialSensor class AP_InertialSensor
{ {
public: public:
AP_InertialSensor() {} AP_InertialSensor() {
}
virtual uint16_t init( AP_PeriodicProcess * scheduler ) = 0; virtual uint16_t init( AP_PeriodicProcess * scheduler ) = 0;
/* Update the sensor data, so that getters are nonblocking. /* Update the sensor data, so that getters are nonblocking.
* Returns a bool of whether data was updated or not. * Returns a bool of whether data was updated or not.
*/ */
virtual bool update() = 0; virtual bool update() = 0;
// check if the sensors have new data // check if the sensors have new data
virtual bool new_data_available(void) = 0; virtual bool new_data_available(void) = 0;
/* Getters for individual gyro axes. /* Getters for individual gyro axes.
* Gyros have correct coordinate frame and units (degrees per second). * Gyros have correct coordinate frame and units (degrees per second).
*/ */
virtual float gx() = 0; virtual float gx() = 0;
virtual float gy() = 0; virtual float gy() = 0;
virtual float gz() = 0; virtual float gz() = 0;
/* Same data as above gyro getters, written to array as { gx, gy, gz } */ /* Same data as above gyro getters, written to array as { gx, gy, gz } */
virtual void get_gyros( float * ) = 0; virtual void get_gyros( float * ) = 0;
/* Getters for individual accel axes. /* Getters for individual accel axes.
* Accels have correct coordinate frame ( flat level ax, ay = 0; az = -9.81) * Accels have correct coordinate frame ( flat level ax, ay = 0; az = -9.81)
* and units (meters per second squared). * and units (meters per second squared).
*/ */
virtual float ax() = 0; virtual float ax() = 0;
virtual float ay() = 0; virtual float ay() = 0;
virtual float az() = 0; virtual float az() = 0;
/* Same data as above accel getters, written to array as { ax, ay, az } */ /* Same data as above accel getters, written to array as { ax, ay, az } */
virtual void get_accels( float * ) = 0; virtual void get_accels( float * ) = 0;
/* Same data as above accel and gyro getters, written to array as /* Same data as above accel and gyro getters, written to array as
* { gx, gy, gz, ax, ay, az } * { gx, gy, gz, ax, ay, az }
*/ */
virtual void get_sensors( float * ) = 0; virtual void get_sensors( float * ) = 0;
/* Temperature, in degrees celsius, of the gyro. */ /* Temperature, in degrees celsius, of the gyro. */
virtual float temperature() = 0; virtual float temperature() = 0;
/* sample_time returns the delta in microseconds since the /* sample_time returns the delta in microseconds since the
* last call to reset_sample_time. * last call to reset_sample_time.
*/ */
virtual uint32_t sample_time() = 0; virtual uint32_t sample_time() = 0;
virtual void reset_sample_time() = 0; virtual void reset_sample_time() = 0;
// return the maximum gyro drift rate in radians/s/s. This // return the maximum gyro drift rate in radians/s/s. This
// depends on what gyro chips are being used // depends on what gyro chips are being used
virtual float get_gyro_drift_rate(void) = 0; virtual float get_gyro_drift_rate(void) = 0;
}; };