mirror of https://github.com/ArduPilot/ardupilot
55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#include "AP_InertialSensor_Stub.h"
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#include <AP_HAL.h>
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const extern AP_HAL::HAL& hal;
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AP_InertialSensor_Stub::AP_InertialSensor_Stub() : AP_InertialSensor() {
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Vector3f accels;
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accels.z = -GRAVITY_MSS;
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set_accel(accels);
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}
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uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
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switch (sample_rate) {
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case RATE_50HZ:
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_sample_period_ms = 20;
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break;
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case RATE_100HZ:
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_sample_period_ms = 10;
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break;
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case RATE_200HZ:
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_sample_period_ms = 5;
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break;
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}
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return AP_PRODUCT_ID_NONE;
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}
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/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
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bool AP_InertialSensor_Stub::update( void ) {
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uint32_t now = hal.scheduler->millis();
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_delta_time_usec = (now - _last_update_ms) * 1000;
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_last_update_ms = now;
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return true;
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}
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float AP_InertialSensor_Stub::get_delta_time() {
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return _delta_time_usec * 1.0e-6;
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}
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uint32_t AP_InertialSensor_Stub::get_last_sample_time_micros() {
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return _last_update_ms * 1000;
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}
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float AP_InertialSensor_Stub::get_gyro_drift_rate(void) {
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// 0.5 degrees/second/minute
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return ToRad(0.5/60);
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}
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bool AP_InertialSensor_Stub::sample_available()
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{
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uint16_t ret = (hal.scheduler->millis() - _last_update_ms)
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/ _sample_period_ms;
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return ret > 0;
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}
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