mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-02-08 17:03:57 -04:00
e5e4cdee18
this waits for a new INS sample to arrive, using whatever method is most efficient on each INS type
31 lines
863 B
C++
31 lines
863 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef __AP_INERTIAL_SENSOR_STUB_H__
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#define __AP_INERTIAL_SENSOR_STUB_H__
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#include <AP_Progmem.h>
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#include "AP_InertialSensor.h"
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class AP_InertialSensor_HIL : public AP_InertialSensor
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{
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public:
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AP_InertialSensor_HIL();
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/* Concrete implementation of AP_InertialSensor functions: */
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bool update();
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float get_delta_time();
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uint32_t get_last_sample_time_micros();
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float get_gyro_drift_rate();
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bool sample_available();
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bool wait_for_sample(uint16_t timeout_ms);
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protected:
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uint16_t _init_sensor( Sample_rate sample_rate );
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uint32_t _sample_period_ms;
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uint32_t _last_update_ms;
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uint32_t _delta_time_usec;
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};
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#endif // __AP_INERTIAL_SENSOR_STUB_H__
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