mirror of https://github.com/ArduPilot/ardupilot
27 lines
699 B
C++
27 lines
699 B
C++
#ifndef AP_MSGHANDLER_IMU_BASE_H
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#define AP_MSGHANDLER_IMU_BASE_H
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#include <MsgHandler.h>
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class MsgHandler_IMU_Base : public MsgHandler
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{
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public:
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MsgHandler_IMU_Base(log_Format &_f, DataFlash_Class &_dataflash,
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uint64_t &_last_timestamp_usec,
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uint8_t &_accel_mask, uint8_t &_gyro_mask,
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AP_InertialSensor &_ins) :
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MsgHandler(_f, _dataflash, _last_timestamp_usec),
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accel_mask(_accel_mask),
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gyro_mask(_gyro_mask),
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ins(_ins) { };
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void update_from_msg_imu(uint8_t gps_offset, uint8_t *msg);
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private:
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uint8_t &accel_mask;
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uint8_t &gyro_mask;
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AP_InertialSensor &ins;
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};
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#endif
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