Diff: SensorFusion.cpp

Revision:

20:503cbe360419

Parent:

19:9e9753b87cfe

Child:

21:5a0c9406e119

--- a/SensorFusion.cpp	Thu Apr 02 14:13:01 2015 +0000
+++ b/SensorFusion.cpp	Thu Apr 09 09:51:51 2015 +0000
@@ -8,6 +8,22 @@
     deltat(0.010), // sec
     beta(1) // correction gain
 {
+    // Setup a dummy delegate object which will catch callbacks if another delegate is not set.
+    // This avoids having to do a comparison every time the callback is to be called.
+    class dummy : public SensorFusion::Delegate
+    {
+        virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q)
+        {
+            // do nothing
+        }
+    } defaultDelegate;
+    
+    setDelegate(defaultDelegate);
+}
+
+void SensorFusion::setDelegate(SensorFusion::Delegate &d)
+{
+    delegate = &d;
 }
 
 bool SensorFusion::start()
@@ -69,7 +85,7 @@
 
     Vector3 const fused = eulerAngles(q);
 
-    sensorTick(fused, accel_reading, magneto_reading, gyro_degrees, q);
+    delegate->sensorTick(fused, accel_reading, magneto_reading, gyro_degrees, q);
 }
 
 void SensorFusion::updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz)