source: flair-src/trunk/lib/FlairFilter/src/Gx3_25_ahrs.h@ 157

Last change on this file since 157 was 157, checked in by Sanahuja Guillaume, 5 years ago

iadded isready to iodevice:
avoid problem of imu not ready in ardrone2

File size: 1.3 KB
Line 
1// %flair:license{
2// This file is part of the Flair framework distributed under the
3// CECILL-C License, Version 1.0.
4// %flair:license}
5/*!
6 * \file Gx3_25_ahrs.h
7 * \brief Class for 3dmgx3-25 ahrs
8 * \author Guillaume Sanahuja, Copyright Heudiasyc UMR UTC/CNRS 7253
9 * \date 2013/01/16
10 * \version 4.0
11 */
12
13#ifndef GX3_25_AHRS_H
14#define GX3_25_AHRS_H
15
16#include <Ahrs.h>
17#include <Gx3_25_imu.h>
18
19namespace flair {
20namespace filter {
21/*! \class Gx3_25_ahrs
22*
23* \brief Class for 3dmgx3-25 ahrs
24*
25* This class constructs a Gx3_25_imu as Imu of this Ahrs.
26*/
27class Gx3_25_ahrs : public Ahrs {
28public:
29 /*!
30 * \brief Constructor
31 *
32 * Construct an Ahrs for 3dmgx3-25. It will be child of the FrameworkManager.
33 *
34 * \param name name
35 * \param serialport Imu SerialPort
36 * \param command command for the Gx3_25_imu continuous mode
37 * \param priority priority of the Gx3_25_imu Thread
38 */
39 Gx3_25_ahrs(std::string name,
40 core::SerialPort *serialport,
41 sensor::Gx3_25_imu::Command_t command, uint8_t priority);
42
43 /*!
44 * \brief Destructor
45 *
46 */
47 ~Gx3_25_ahrs();
48
49private:
50 /*!
51 * \brief Update using provided datas
52 *
53 * Reimplemented from IODevice.
54 *
55 * \param data data from the parent to process
56 */
57 void UpdateFrom(const core::io_data *data);
58};
59} // end namespace filter
60} // end namespace flair
61#endif // GX3_25_AHRS_H
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