mirror of https://github.com/ArduPilot/ardupilot
44 lines
912 B
C++
44 lines
912 B
C++
#include <AP_HAL/AP_HAL.h>
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#include "AP_InertialSensor_HIL.h"
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_HIL::AP_InertialSensor_HIL(AP_InertialSensor &imu) :
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AP_InertialSensor_Backend(imu)
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{
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}
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/*
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detect the sensor
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*/
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AP_InertialSensor_Backend *AP_InertialSensor_HIL::detect(AP_InertialSensor &_imu)
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{
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AP_InertialSensor_HIL *sensor = new AP_InertialSensor_HIL(_imu);
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if (sensor == nullptr) {
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return nullptr;
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}
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if (!sensor->_init_sensor()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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bool AP_InertialSensor_HIL::_init_sensor(void)
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{
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// grab the used instances
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_imu.register_gyro(1200, 1);
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_imu.register_accel(1200, 1);
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_imu.set_hil_mode();
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return true;
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}
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bool AP_InertialSensor_HIL::update(void)
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{
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// the data is stored directly in the frontend, so update()
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// doesn't need to do anything
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return true;
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}
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