AP_Mount: add virtual signature for gmb_att_update

3drobotics · Jul 25, 2016 · 12d41cf · 12d41cf
1 parent 433d4a8
commit 12d41cf
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diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
@@ -78,6 +78,9 @@ class AP_Mount
     // update - give mount opportunity to update servos.  should be called at 10hz or higher
     void update(uint8_t mount_sysid, AP_SerialManager& serial_manager);;
 
+    // used for gimbals that need to read INS data at configurable rate
+    void gmb_att_update();
+
     // get_mount_type - returns the type of mount
     AP_Mount::MountType get_mount_type() const { return get_mount_type(_primary); }
     AP_Mount::MountType get_mount_type(uint8_t instance) const;

diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -47,6 +47,9 @@ class AP_Mount_Backend
     // update mount position - should be called periodically
     virtual void update() = 0;
 
+    // used for gimbals that need to read INS data at configurable rate
+    virtual void gmb_att_update() {}
+
     // has_pan_control - returns true if this mount can control it's pan (required for multicopters)
     virtual bool has_pan_control() const = 0;