Bremen Team - Hangar / SML2

Implemented first Hangar-Service

Dependencies:   CalibrateMagneto QuaternionMath

Fork of SML2 by TobyRich GmbH

Diff: SensorFusion.h

Revision:
20:503cbe360419
Parent:
17:e9d42864c8a1
Child:
21:5a0c9406e119
--- a/SensorFusion.h	Thu Apr 02 14:13:01 2015 +0000
+++ b/SensorFusion.h	Thu Apr 09 09:51:51 2015 +0000
@@ -10,15 +10,21 @@
 class SensorFusion : public Sensor::Delegate
 {
 public:
+    class Delegate
+    {
+        virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) = 0;
+    };
+    
     SensorFusion(I2C &i2c);
+    void setDelegate(Delegate &d);
 
     bool start();
     void stop();
 
-    virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) = 0;
     virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
 
 private:
+    Delegate* delegate;
     Accelerometer accel;
     Gyroscope gyro;
     Magnetometer magneto;