ardupilot/libraries/AP_Compass/AP_Compass_HIL.cpp

/*
   This program is free software: you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation, either version 3 of the License, or
   (at your option) any later version.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

/*
 *       AP_Compass_HIL.cpp - HIL backend for AP_Compass
 *
 */


#include <AP_HAL/AP_HAL.h>
#include "AP_Compass_HIL.h"

extern const AP_HAL::HAL& hal;

// constructor
AP_Compass_HIL::AP_Compass_HIL()
{
    memset(_compass_instance, 0, sizeof(_compass_instance));
    _compass._setup_earth_field();
}

// detect the sensor
AP_Compass_Backend *AP_Compass_HIL::detect()
{
    AP_Compass_HIL *sensor = new AP_Compass_HIL();
    if (sensor == nullptr) {
        return nullptr;
    }
    if (!sensor->init()) {
        delete sensor;
        return nullptr;
    }
    return sensor;
}

bool
AP_Compass_HIL::init(void)
{
    // register compass instances
    for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) {
        uint32_t dev_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 0, DEVTYPE_SITL);
        if (!register_compass(dev_id, _compass_instance[i])) {
            return false;
        }
        set_dev_id(_compass_instance[i], dev_id);
    }
    return true;
}

void AP_Compass_HIL::read()
{
    for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) {
        if (_compass._hil.healthy[i]) {
            uint8_t compass_instance = _compass_instance[i];
            Vector3f field = _compass._hil.field[compass_instance];
            rotate_field(field, compass_instance);
            publish_raw_field(field, compass_instance);
            correct_field(field, compass_instance);
            uint32_t saved_last_update = _compass.last_update_usec(compass_instance);
            publish_filtered_field(field, compass_instance);
            set_last_update_usec(saved_last_update, compass_instance);
        }
    }
}