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https://github.com/ArduPilot/ardupilot
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27 lines
534 B
C
27 lines
534 B
C
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#pragma once
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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#include <AP_UAVCAN/AP_UAVCAN.h>
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class AP_Compass_UAVCAN : public AP_Compass_Backend {
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public:
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void read(void) override;
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AP_Compass_UAVCAN(Compass &compass);
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~AP_Compass_UAVCAN() override;
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// This method is called from UAVCAN thread
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void handle_mag_msg(Vector3f &mag);
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private:
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uint8_t _instance;
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int _mag_fd;
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Vector3f _sum;
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uint32_t _count;
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uint64_t _last_timestamp;
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AP_HAL::Semaphore *_mag_baro;
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};
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