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Add airspeed sensor to sensor_simulator

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This commit is contained in:
kamilritz
2020-01-14 15:16:25 +03:00
committed by Roman Bapst
parent 4044abdd20
commit 7ed6a437c7
23 changed files with 177 additions and 33 deletions
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test/sensor_simulator/sensor.h
+5 -5
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@@ -52,7 +52,7 @@ public:
Sensor(std::shared_ptr<Ekf> ekf);
virtual ~Sensor();
void update(uint32_t time);
void update(uint64_t time);
void setRateHz(uint32_t rate){ _update_period = uint32_t(1000000)/rate; }
@@ -67,17 +67,17 @@ protected:
std::shared_ptr<Ekf> _ekf;
// time in microseconds
uint32_t _update_period;
uint32_t _time_last_data_sent{0};
uint64_t _time_last_data_sent{0};
bool _is_running{false};
bool should_send(uint32_t time) const;
bool should_send(uint64_t time) const;
// Checks that the right amount time passed since last send data to fulfill rate
bool is_time_to_send(uint32_t time) const;
bool is_time_to_send(uint64_t time) const;
// call set*Data function of Ekf
virtual void send(uint32_t time) = 0;
virtual void send(uint64_t time) = 0;
};