mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C++
48 lines
1.3 KiB
C++
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Compass_MSP.h"
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#if HAL_MSP_COMPASS_ENABLED
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AP_Compass_MSP::AP_Compass_MSP(uint8_t _msp_instance)
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{
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msp_instance = _msp_instance;
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auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP, 0, _msp_instance, 0);
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register_compass(devid, instance);
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set_dev_id(instance, devid);
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set_external(instance, true);
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}
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void AP_Compass_MSP::handle_msp(const MSP::msp_compass_data_message_t &pkt)
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{
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if (pkt.instance != msp_instance) {
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return;
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}
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Vector3f field(pkt.magX, pkt.magY, pkt.magZ);
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accumulate_sample(field, instance);
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}
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void AP_Compass_MSP::read(void)
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{
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drain_accumulated_samples(instance);
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}
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#endif // HAL_MSP_COMPASS_ENABLED
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