#include <AP_IMU_Shim.h>
Inherits IMU.
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) |
Definition at line 9 of file AP_IMU_Shim.h.
AP_IMU_Shim::AP_IMU_Shim | ( | void | ) | [inline] |
Definition at line 12 of file AP_IMU_Shim.h.
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.
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.
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.
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.
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.
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.
Implements IMU.
Definition at line 19 of file AP_IMU_Shim.h.