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#include "IMU.hpp" #include "gps.hpp" /*********************************************************************************************************************** * Variables **********************************************************************************************************************/ static ICM20602IMU *imuObj; static NEOM8Gps *gpsObj; /*********************************************************************************************************************** * Code **********************************************************************************************************************/ void SensorFusion_Init(void) { imuObj = ICM20602::GetInstance(); gpsObj = NEOM8 ::GetInstance(); } void SensorFusion_Execute(SensorResult *sensResult) { IMUData_t imuData = imuObj.getResult->etResult(); GpsData_t GpsData = gpsObj.getResult->getResult(); sensResult.result = DoCrazyMath(&imuData, &GpsData); } |
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#include "IMU.hpp" #include "gps.hpp" /*********************************************************************************************************************** * Variables **********************************************************************************************************************/ #ifdef TARGET_BUILD static ICM20602IMU *imuObj; static NEOM8Gps *gpsObj; #elif defined(TEST_BUILD) static matlabIMU imuObj; static matlabGps gpsObj; #endif /*********************************************************************************************************************** * Code **********************************************************************************************************************/ void SensorFusion_Init(void) { #ifdef TARGET_BUILD imuObj = ICM20602::GetInstance(); gpsObj = NEOM8 ::GetInstance(); #elif defined(TEST_BUILD) imuObj = matlabIMU::GetInstance(); gpsObj = matlabGps::GetInstance(); #endif } void SensorFusion_Execute(SensorResult *sensResult) { IMUData_t imuData = imuObj.getResult(); GpsData_t GpsData = gpsObj.getResult(); sensResult.result = DoCrazyMath(&imuData, &GpsData); } |