ardupilot/libraries/AP_DAL/AP_DAL_Compass.h

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#pragma once
#include <AP_Logger/LogStructure.h>
#include <AP_Compass/AP_Compass.h>
#include <AP_Vehicle/AP_Vehicle_Type.h>
class AP_DAL_Compass {
public:
// Compass-like methods:
bool use_for_yaw(uint8_t i) const {
return _RMGI[i].use_for_yaw;
}
bool healthy(uint8_t i) const {
return _RMGI[i].healthy;
}
const Vector3f &get_offsets(uint8_t i) const {
return _RMGI[i].offsets;
}
bool have_scale_factor(uint8_t i) const {
return _RMGI[i].have_scale_factor;
}
bool auto_declination_enabled() const {
return _RMGH.auto_declination_enabled;
}
uint8_t get_count() const {
return _RMGH.count;
}
float get_declination() const {
return _RMGH.declination;
}
bool available() const {
return _RMGH.available;
}
// return the number of enabled sensors
uint8_t get_num_enabled(void) const { return _RMGH.num_enabled; }
// learn offsets accessor
bool learn_offsets_enabled() const { return _RMGH.learn_offsets_enabled; }
// return last update time in microseconds
uint32_t last_update_usec(uint8_t i) const { return _RMGI[i].last_update_usec; }
/// Return the current field as a Vector3f in milligauss
const Vector3f &get_field(uint8_t i) const { return _RMGI[i].field; }
// check if the compasses are pointing in the same direction
bool consistent() const { return _RMGH.consistent; }
// returns first usable compass
uint8_t get_first_usable() const { return _RMGH.first_usable; }
// AP_DAL methods:
AP_DAL_Compass();
void start_frame();
void handle_message(const log_RMGH &msg) {
_RMGH = msg;
}
void handle_message(const log_RMGI &msg) {
_RMGI[msg.instance] = msg;
}
private:
struct log_RMGH _RMGH;
struct log_RMGI _RMGI[COMPASS_MAX_INSTANCES];
};