Diff: SensorFusion.h

Revision:

21:5a0c9406e119

Parent:

20:503cbe360419

Child:

26:8f3e4e1a3acc

--- a/SensorFusion.h	Thu Apr 09 09:51:51 2015 +0000
+++ b/SensorFusion.h	Thu Apr 09 11:54:48 2015 +0000
@@ -12,7 +12,8 @@
 public:
     class Delegate
     {
-        virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) = 0;
+    public:
+        virtual void sensorTick(Vector3 fused, Vector3 accel, Vector3 magneto, Vector3 gyro, Quaternion q) {}
     };
     
     SensorFusion(I2C &i2c);
@@ -24,12 +25,13 @@
     virtual void sensorUpdate(Vector3 gyro_degrees); // gyro's callback
 
 private:
+    Delegate defaultDelegate; // to avoid check for existence every time
     Delegate* delegate;
     Accelerometer accel;
     Gyroscope gyro;
     Magnetometer magneto;
     Quaternion q;
-    float deltat, beta;
+    float const deltat, beta;
     void updateFilter(float ax, float ay, float az, float gx, float gy, float gz, float mx, float my, float mz);
     Vector3 eulerAngles(Quaternion const &q) const;
 };