Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : /*
      16             :   parent class for ExternalAHRS backends
      17             :  */
      18             : 
      19             : #include "AP_ExternalAHRS_backend.h"
      20             : #include <AP_AHRS/AP_AHRS.h>
      21             : 
      22             : #if AP_EXTERNAL_AHRS_ENABLED
      23             : 
      24          62 : AP_ExternalAHRS_backend::AP_ExternalAHRS_backend(AP_ExternalAHRS *_frontend,
      25          62 :                                                  AP_ExternalAHRS::state_t &_state) :
      26          62 :     state(_state),
      27          62 :     frontend(*_frontend)
      28          62 : {}
      29             : 
      30             : 
      31          12 : uint16_t AP_ExternalAHRS_backend::get_rate(void) const
      32             : {
      33          12 :     return frontend.get_IMU_rate();
      34             : }
      35             : 
      36       17996 : bool AP_ExternalAHRS_backend::option_is_set(AP_ExternalAHRS::OPTIONS option) const
      37             : {
      38       17996 :     return frontend.option_is_set(option);
      39             : }
      40             : 
      41           0 : bool AP_ExternalAHRS_backend::in_fly_forward(void) const
      42             : {
      43           0 :     return AP::ahrs().get_fly_forward();
      44             : }
      45             : 
      46             : #endif  // AP_EXTERNAL_AHRS_ENABLED
      47             :