ardupilot/libraries/AP_IMU/AP_IMU_Shim.h

77 lines
1.9 KiB
C++

// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: t -*-
/// @file AP_IMU_Shim.h
/// @brief IMU shim driver, used when the IMU data is coming from somewhere else.
#ifndef AP_IMU_Shim_h
#define AP_IMU_Shim_h
#include "IMU.h"
class AP_IMU_Shim : public IMU
{
public:
AP_IMU_Shim(void) {}
/// @name IMU protocol
//@{
virtual void init(Start_style style = COLD_START,
void (*callback)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL,
AP_PeriodicProcess *scheduler = NULL) {};
virtual void init_accel(void (*callback)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL) {};
virtual void init_gyro(void (*callback)(unsigned long t) = delay,
void (*flash_leds_cb)(bool on) = NULL) {};
virtual bool update(void) {
bool updated = _updated;
_updated = false;
// return number of microseconds since last call
uint32_t us = micros();
uint32_t ret = us - last_ch6_micros;
last_ch6_micros = us;
_sample_time = ret;
return updated;
}
//@}
virtual bool new_data_available(void) { return true; }
float gx() { return 0; }
float gy() { return 0; }
float gz() { return 0; }
float ax() { return 0; }
float ay() { return 0; }
float az() { return 0; }
void ax(const int v) { }
void ay(const int v) { }
void az(const int v) { }
/// Set the gyro vector. ::update will return
/// true once after this call.
///
/// @param v The new gyro vector.
///
void set_gyro(Vector3f v) { _gyro = v; _updated = true; }
/// Set the accelerometer vector. ::update will return
/// true once after this call.
///
/// @param v The new accelerometer vector.
///
void set_accel(Vector3f v) { _accel = v; _updated = true; }
// dummy save method
void save(void) { }
private:
/// set true when new data is delivered
bool _updated;
uint32_t last_ch6_micros;
};
#endif