run_seconds

test/sensor_simulator/CMakeLists.txt

@@ -41,5 +41,5 @@ set(SRCS
 	gps.cpp
    )
 
-add_library(SENSOR_SIMULATOR ${SRCS})
-target_link_libraries(SENSOR_SIMULATOR ecl_EKF)
+add_library(ecl_sensor_sim ${SRCS})
+target_link_libraries(ecl_sensor_sim ecl_EKF)

test/sensor_simulator/baro.h

@@ -55,7 +55,7 @@ public:
 private:
 	float _baro_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/gps.h

@@ -55,7 +55,7 @@ public:
 private:
 	gps_message _gps_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/imu.h

@@ -58,7 +58,7 @@ private:
 	Vector3f _accel_data;
 	Vector3f _gyro_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/mag.h

@@ -55,7 +55,7 @@ public:
 private:
 	Vector3f _mag_data;
 
-	void send(uint32_t time);
+	void send(uint32_t time) override;
 
 };
 

test/sensor_simulator/sensor_simulator.cpp

@@ -58,7 +58,12 @@ gps_message SensorSimulator::getDefaultGpsData()
 	return gps_data;
 }
 
-void SensorSimulator::run(uint32_t duration)
+void SensorSimulator::run_seconds(float duration_seconds)
+{
+	run_microseconds( uint32_t(duration_seconds * 1e6f) );
+}
+
+void SensorSimulator::run_microseconds(uint32_t duration)
 {
 	// simulate in 1000us steps
 	uint32_t start_time = _time;

test/sensor_simulator/sensor_simulator.h

@@ -63,7 +63,8 @@ public:
 	void setBaroRate(uint32_t rate){ _baro.setRate(rate); }
 	void setGpsRate(uint32_t rate){ _gps.setRate(rate); }
 
-	void run(uint32_t duration);
+	void run_seconds(float duration_seconds);
+	void run_microseconds(uint32_t duration);
 
 	void startGps(){ _gps.start(); }
 	void stopGps(){ _gps.stop(); }