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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_ExternalAHRS/AP_ExternalAHRS_backend.cpp
Views: 1798
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/*

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   This program is free software: you can redistribute it and/or modify

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   it under the terms of the GNU General Public License as published by

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   the Free Software Foundation, either version 3 of the License, or

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   (at your option) any later version.

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   This program is distributed in the hope that it will be useful,

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   but WITHOUT ANY WARRANTY; without even the implied warranty of

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   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

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   GNU General Public License for more details.

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   You should have received a copy of the GNU General Public License

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   along with this program.  If not, see <http://www.gnu.org/licenses/>.

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 */

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/*

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  parent class for ExternalAHRS backends

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 */

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#include "AP_ExternalAHRS_backend.h"

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#include <AP_AHRS/AP_AHRS.h>

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#if HAL_EXTERNAL_AHRS_ENABLED

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AP_ExternalAHRS_backend::AP_ExternalAHRS_backend(AP_ExternalAHRS *_frontend,

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                                                 AP_ExternalAHRS::state_t &_state) :

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    state(_state),

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    frontend(*_frontend)

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{}

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uint16_t AP_ExternalAHRS_backend::get_rate(void) const

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{

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    return frontend.get_IMU_rate();

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}

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bool AP_ExternalAHRS_backend::option_is_set(AP_ExternalAHRS::OPTIONS option) const

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{

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    return frontend.option_is_set(option);

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}

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bool AP_ExternalAHRS_backend::in_fly_forward(void) const

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{

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    return AP::ahrs().get_fly_forward();

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}

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#endif  // HAL_EXTERNAL_AHRS_ENABLED

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