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AHRS: make airspeed sensor available to AHRS

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this will be used for long term dead-reckoning
This commit is contained in:
Andrew Tridgell 2012-08-11 08:57:32 +10:00
parent c2dc920d02
commit f95b06a880
2 changed files with 7 additions and 2 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -12,6 +12,7 @@
#include <AP_Math.h>
#include <inttypes.h>
#include <AP_Compass.h>
#include <AP_Airspeed.h>
#include <AP_GPS.h>
#include <AP_IMU.h>
#include <AP_Baro.h>
@ -46,6 +47,7 @@ public:
void set_fly_forward(bool b) { _fly_forward = b; }
void set_compass(Compass *compass) { _compass = compass; }
void set_barometer(AP_Baro *barometer) { _barometer = barometer; }
void set_airspeed(AP_Airspeed *airspeed) { _airspeed = airspeed; }
// Methods
virtual void update(void) = 0;
@ -90,9 +92,12 @@ public:
//static const struct AP_Param::GroupInfo var_info[];
protected:
// pointer to compass object, if enabled
// pointer to compass object, if available
Compass * _compass;
// pointer to airspeed object, if available
AP_Airspeed * _airspeed;
// time in microseconds of last compass update
uint32_t _compass_last_update;

2
libraries/AP_Airspeed/AP_Airspeed.h
View File

@ -32,7 +32,7 @@ public:
float get_airspeed_cm(void) { return _airspeed*100; }
// return true if airspeed is enabled, and airspeed use is set
bool use(void) { return _enable && _use; }
bool use(void) { return _enable && _use && _offset != 0; }
// return true if airspeed is enabled
bool enabled(void) { return _enable; }