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AP_InertialSensor: rename Stub to HIL

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more consistent with other drivers
This commit is contained in:
Andrew Tridgell 2013-09-28 19:33:21 +10:00
parent dd081ab23b
commit cf726c6642
3 changed files with 11 additions and 11 deletions
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2
libraries/AP_InertialSensor/AP_InertialSensor.h
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@ -185,7 +185,7 @@ protected:
#include "AP_InertialSensor_Oilpan.h"
#include "AP_InertialSensor_MPU6000.h"
#include "AP_InertialSensor_Stub.h"
#include "AP_InertialSensor_HIL.h"
#include "AP_InertialSensor_PX4.h"
#include "AP_InertialSensor_UserInteract_Stream.h"
#include "AP_InertialSensor_UserInteract_MAVLink.h"

16
libraries/AP_InertialSensor/AP_InertialSensor_Stub.cpp → libraries/AP_InertialSensor/AP_InertialSensor_HIL.cpp
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@ -1,16 +1,16 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "AP_InertialSensor_Stub.h"
#include "AP_InertialSensor_HIL.h"
#include <AP_HAL.h>
const extern AP_HAL::HAL& hal;
AP_InertialSensor_Stub::AP_InertialSensor_Stub() : AP_InertialSensor() {
AP_InertialSensor_HIL::AP_InertialSensor_HIL() : AP_InertialSensor() {
Vector3f accels;
accels.z = -GRAVITY_MSS;
set_accel(accels);
}
uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
uint16_t AP_InertialSensor_HIL::_init_sensor( Sample_rate sample_rate ) {
switch (sample_rate) {
case RATE_50HZ:
_sample_period_ms = 20;
@ -27,25 +27,25 @@ uint16_t AP_InertialSensor_Stub::_init_sensor( Sample_rate sample_rate ) {
/*================ AP_INERTIALSENSOR PUBLIC INTERFACE ==================== */
bool AP_InertialSensor_Stub::update( void ) {
bool AP_InertialSensor_HIL::update( void ) {
uint32_t now = hal.scheduler->millis();
_delta_time_usec = (now - _last_update_ms) * 1000;
_last_update_ms = now;
return true;
}
float AP_InertialSensor_Stub::get_delta_time() {
float AP_InertialSensor_HIL::get_delta_time() {
return _delta_time_usec * 1.0e-6;
}
uint32_t AP_InertialSensor_Stub::get_last_sample_time_micros() {
uint32_t AP_InertialSensor_HIL::get_last_sample_time_micros() {
return _last_update_ms * 1000;
}
float AP_InertialSensor_Stub::get_gyro_drift_rate(void) {
float AP_InertialSensor_HIL::get_gyro_drift_rate(void) {
// 0.5 degrees/second/minute
return ToRad(0.5/60);
}
bool AP_InertialSensor_Stub::sample_available()
bool AP_InertialSensor_HIL::sample_available()
{
uint16_t ret = (hal.scheduler->millis() - _last_update_ms)
/ _sample_period_ms;

4
libraries/AP_InertialSensor/AP_InertialSensor_Stub.h → libraries/AP_InertialSensor/AP_InertialSensor_HIL.h
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@ -6,11 +6,11 @@
#include <AP_Progmem.h>
#include "AP_InertialSensor.h"
class AP_InertialSensor_Stub : public AP_InertialSensor
class AP_InertialSensor_HIL : public AP_InertialSensor
{
public:
AP_InertialSensor_Stub();
AP_InertialSensor_HIL();
/* Concrete implementation of AP_InertialSensor functions: */
bool update();