mirror of https://github.com/ArduPilot/ardupilot
37 lines
862 B
C++
37 lines
862 B
C++
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#include "AP_Baro_MSP.h"
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#if HAL_MSP_BARO_ENABLED
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AP_Baro_MSP::AP_Baro_MSP(AP_Baro &baro, uint8_t _msp_instance) :
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AP_Baro_Backend(baro)
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{
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msp_instance = _msp_instance;
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instance = _frontend.register_sensor();
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set_bus_id(instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0));
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}
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// Read the sensor
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void AP_Baro_MSP::update(void)
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{
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if (count) {
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WITH_SEMAPHORE(_sem);
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_copy_to_frontend(instance, sum_pressure/count, sum_temp/count);
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sum_pressure = sum_temp = 0;
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count = 0;
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}
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}
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void AP_Baro_MSP::handle_msp(const MSP::msp_baro_data_message_t &pkt)
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{
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if (pkt.instance != msp_instance) {
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// not for us
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return;
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}
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WITH_SEMAPHORE(_sem);
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sum_pressure += pkt.pressure_pa;
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sum_temp += pkt.temp*0.01;
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count++;
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}
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#endif // HAL_MSP_BARO_ENABLED
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