ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_HIL.h

37 lines
1.2 KiB
C++

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