Public Member Functions

AP_IMU_Shim Class Reference

#include <AP_IMU_Shim.h>

Inherits IMU.

Collaboration diagram for AP_IMU_Shim:
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List of all members.

Public Member Functions

 AP_IMU_Shim (void)
void set_gyro (Vector3f v)
void set_accel (Vector3f v)
IMU protocol

virtual void init (Start_style style)
virtual void init_accel (Start_style style)
virtual void init_gyro (Start_style style)
virtual bool update (void)

Detailed Description

Definition at line 9 of file AP_IMU_Shim.h.


Constructor & Destructor Documentation

AP_IMU_Shim::AP_IMU_Shim ( void   )  [inline]

Definition at line 12 of file AP_IMU_Shim.h.


Member Function Documentation

virtual void AP_IMU_Shim::init ( Start_style  style  )  [inline, virtual]

Perform startup initialisation.

Called to initialise the state of the IMU.

For COLD_START, implementations using real sensors can assume that the airframe is stationary and nominally oriented.

For WARM_START, no assumptions should be made about the orientation or motion of the airframe. Calibration should be as for the previous COLD_START call.

Parameters:
style The initialisation startup style.

Implements IMU.

Definition at line 16 of file AP_IMU_Shim.h.

virtual void AP_IMU_Shim::init_accel ( Start_style  style  )  [inline, virtual]

Perform startup initialisation for just the accelerometers.

Note:
This should not be called unless init has previously been called, as init may perform other work.
Parameters:
style The initialisation startup style.

Implements IMU.

Definition at line 17 of file AP_IMU_Shim.h.

virtual void AP_IMU_Shim::init_gyro ( Start_style  style  )  [inline, virtual]

Perform cold-start initialisation for just the gyros.

Note:
This should not be called unless init has previously been called, as init may perform other work
Parameters:
style The initialisation startup style.

Implements IMU.

Definition at line 18 of file AP_IMU_Shim.h.

void AP_IMU_Shim::set_accel ( Vector3f  v  )  [inline]

Set the accelerometer vector. update will return true once after this call.

Parameters:
v The new accelerometer vector.

Definition at line 38 of file AP_IMU_Shim.h.

void AP_IMU_Shim::set_gyro ( Vector3f  v  )  [inline]

Set the gyro vector. update will return true once after this call.

Parameters:
v The new gyro vector.

Definition at line 31 of file AP_IMU_Shim.h.

virtual bool AP_IMU_Shim::update ( void   )  [inline, virtual]

Give the IMU some cycles to perform/fetch an update from its sensors.

Returns:
True if some state was updated.

Implements IMU.

Definition at line 19 of file AP_IMU_Shim.h.


The documentation for this class was generated from the following file: