ardupilot/libraries/AP_InertialSensor/AP_InertialSensor_Stub.h

36 lines
1008 B
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 <string.h>
#include <stdint.h>
#include "../AP_PeriodicProcess/AP_PeriodicProcess.h"
#include "AP_InertialSensor.h"
class AP_InertialSensor_Stub : public AP_InertialSensor
{
public:
AP_InertialSensor_Stub() {
}
/* Concrete implementation of AP_InertialSensor functions: */
bool update();
bool new_data_available();
float temperature();
uint32_t get_delta_time_micros();
uint32_t get_last_sample_time_micros();
float get_gyro_drift_rate();
uint16_t num_samples_available();
protected:
uint16_t _init_sensor( AP_PeriodicProcess * scheduler, Sample_rate sample_rate );
uint32_t _sample_period_ms;
uint32_t _last_update_ms;
uint32_t _delta_time_usec;
};
#endif // __AP_INERTIAL_SENSOR_STUB_H__