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https://github.com/ArduPilot/ardupilot
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36 lines
1.2 KiB
C++
36 lines
1.2 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_STUB_H__
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#define __AP_INERTIAL_SENSOR_STUB_H__
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_HIL : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_HIL();
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float get_delta_time() const;
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float get_gyro_drift_rate();
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bool wait_for_sample(uint16_t timeout_ms);
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void set_accel(uint8_t instance, const Vector3f &accel);
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void set_gyro(uint8_t instance, const Vector3f &gyro);
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bool get_gyro_health(uint8_t instance) const;
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bool get_accel_health(uint8_t instance) const;
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private:
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bool _sample_available();
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uint16_t _init_sensor( Sample_rate sample_rate );
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float _sample_period_ms;
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uint32_t _last_update_ms;
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uint32_t _delta_time_usec;
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uint32_t _last_accel_usec[INS_MAX_INSTANCES];
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uint32_t _last_gyro_usec[INS_MAX_INSTANCES];
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};
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#endif // __AP_INERTIAL_SENSOR_STUB_H__
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