ardupilot/libraries/AP_Baro/AP_Baro_MSP.cpp

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2020-09-03 19:09:52 -03:00
#include "AP_Baro_MSP.h"
#if AP_BARO_MSP_ENABLED
2020-09-03 19:09:52 -03:00
AP_Baro_MSP::AP_Baro_MSP(AP_Baro &baro, uint8_t _msp_instance) :
AP_Baro_Backend(baro)
{
msp_instance = _msp_instance;
instance = _frontend.register_sensor();
set_bus_id(instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0));
}
// Read the sensor
void AP_Baro_MSP::update(void)
{
if (count) {
WITH_SEMAPHORE(_sem);
_copy_to_frontend(instance, sum_pressure/count, sum_temp/count);
sum_pressure = sum_temp = 0;
count = 0;
}
}
void AP_Baro_MSP::handle_msp(const MSP::msp_baro_data_message_t &pkt)
{
if (pkt.instance != msp_instance) {
// not for us
return;
}
WITH_SEMAPHORE(_sem);
sum_pressure += pkt.pressure_pa;
sum_temp += pkt.temp*0.01;
count++;
}
#endif // AP_BARO_MSP_ENABLED