ardupilot/libraries/APM_Compass/APM_Compass.h

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#ifndef APM_Compass_h
#define APM_Compass_h
#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD 0
#define APM_COMPONENTS_UP_PINS_FORWARD_RIGHT 1
#define APM_COMPASS_COMPONENTS_UP_PINS_RIGHT 2
#define APM_COMPONENTS_UP_PINS_BACK_RIGHT 3
#define APM_COMPASS_COMPONENTS_UP_PINS_BACK 4
#define APM_COMPONENTS_UP_PINS_BACK_LEFT 5
#define APM_COMPASS_COMPONENTS_UP_PINS_LEFT 6
#define APM_COMPONENTS_UP_PINS_FORWARD_LEFT 7
#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD 8
#define APM_COMPONENTS_DOWN_PINS_FORWARD_RIGHT 9
#define APM_COMPASS_COMPONENTS_DOWN_PINS_RIGHT 10
#define APM_COMPONENTS_DOWN_PINS_BACK_RIGHT 11
#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK 12
#define APM_COMPONENTS_DOWN_PINS_BACK_LEFT 13
#define APM_COMPASS_COMPONENTS_DOWN_PINS_LEFT 14
#define APM_COMPONENTS_DOWN_PINS_FORWARD_LEFT 15
class APM_Compass_Class
{
private:
int orientation;
float calibration[3];
int offset[3];
float declination;
public:
int Mag_X;
int Mag_Y;
int Mag_Z;
float Heading;
float Heading_X;
float Heading_Y;
unsigned long lastUpdate;
APM_Compass_Class(); // Constructor
void Init();
void Read();
void Calculate(float roll, float pitch);
void SetOrientation(int newOrientation);
void SetOffsets(int x, int y, int z);
void SetDeclination(float radians);
};
extern APM_Compass_Class APM_Compass;
#endif