Implemented first Hangar-Service
Dependencies: CalibrateMagneto QuaternionMath
Fork of SML2 by
Diff: SensorFusion.h
- Revision:
- 20:503cbe360419
- Parent:
- 17:e9d42864c8a1
- Child:
- 21:5a0c9406e119
diff -r 9e9753b87cfe -r 503cbe360419 SensorFusion.h --- 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;