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AP_InertialSensor: add static create method

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Lucas De Marchi 2017-08-08 08:17:57 -07:00 committed by Francisco Ferreira
parent c1a957fbf3
commit d566567d87
1 changed files with 10 additions and 3 deletions
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13
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -46,7 +46,13 @@ class AP_InertialSensor : AP_AccelCal_Client
friend class AP_InertialSensor_Backend;
public:
AP_InertialSensor();
static AP_InertialSensor create() { return AP_InertialSensor{}; }
constexpr AP_InertialSensor(AP_InertialSensor &&other) = default;
/* Do not allow copies */
AP_InertialSensor(const AP_InertialSensor &other) = delete;
AP_InertialSensor &operator=(const AP_InertialSensor&) = delete;
static AP_InertialSensor *get_instance();
@ -137,7 +143,7 @@ public:
// get observed sensor rates, including any internal sampling multiplier
uint16_t get_gyro_rate_hz(uint8_t instance) const { return uint16_t(_gyro_raw_sample_rates[instance] * _gyro_over_sampling[instance]); }
uint16_t get_accel_rate_hz(uint8_t instance) const { return uint16_t(_accel_raw_sample_rates[instance] * _accel_over_sampling[instance]); }
// get accel offsets in m/s/s
const Vector3f &get_accel_offsets(uint8_t i) const { return _accel_offset[i]; }
const Vector3f &get_accel_offsets(void) const { return get_accel_offsets(_primary_accel); }
@ -261,8 +267,9 @@ public:
// return time in microseconds of last update() call
uint32_t get_last_update_usec(void) const { return _last_update_usec; }
private:
AP_InertialSensor();
// load backend drivers
bool _add_backend(AP_InertialSensor_Backend *backend);