mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
/*
|
|
This program is free software: you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation, either version 3 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
|
*/
|
|
/*
|
|
parent class for ExternalAHRS backends
|
|
*/
|
|
|
|
#include "AP_ExternalAHRS_backend.h"
|
|
#include <AP_AHRS/AP_AHRS.h>
|
|
|
|
#if HAL_EXTERNAL_AHRS_ENABLED
|
|
|
|
AP_ExternalAHRS_backend::AP_ExternalAHRS_backend(AP_ExternalAHRS *_frontend,
|
|
AP_ExternalAHRS::state_t &_state) :
|
|
frontend(*_frontend),
|
|
state(_state)
|
|
{}
|
|
|
|
|
|
uint16_t AP_ExternalAHRS_backend::get_rate(void) const
|
|
{
|
|
return frontend.get_IMU_rate();
|
|
}
|
|
|
|
bool AP_ExternalAHRS_backend::option_is_set(AP_ExternalAHRS::OPTIONS option) const
|
|
{
|
|
return frontend.option_is_set(option);
|
|
}
|
|
|
|
bool AP_ExternalAHRS_backend::in_fly_forward(void) const
|
|
{
|
|
return AP::ahrs().get_fly_forward();
|
|
}
|
|
|
|
#endif // HAL_EXTERNAL_AHRS_ENABLED
|
|
|