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