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AP_Compass: add interface for raw and unfiltered field

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Jonathan Challinger 2015-03-18 15:14:38 -07:00 committed by Andrew Tridgell
parent b2fff2021f
commit b990eaed68
1 changed files with 28 additions and 0 deletions
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28
libraries/AP_Compass/Compass.h
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@ -106,6 +106,26 @@ public:
const Vector3f &get_field(uint8_t i) const { return _state[i].field; }
const Vector3f &get_field(void) const { return get_field(get_primary()); }
// raw/unfiltered measurement interface
uint32_t raw_meas_time_us(uint8_t i) const { return _state[i].raw_meas_time_us; }
uint32_t raw_meas_time_us() const { return _state[get_primary()].raw_meas_time_us; }
uint32_t unfiltered_meas_time_us(uint8_t i) const { return _state[i].raw_meas_time_us; }
uint32_t unfiltered_meas_time_us() const { return _state[get_primary()].raw_meas_time_us; }
bool has_raw_field(uint8_t i) const { return _state[i].has_raw_field; }
bool has_raw_field() const { return has_raw_field(get_primary()); }
bool has_unfiltered_field(uint8_t i) const { return _state[i].has_unfiltered_field; }
bool has_unfiltered_field() const { return has_unfiltered_field(get_primary()); }
const Vector3f &get_raw_field(uint8_t i) const { return _state[i].raw_field; }
const Vector3f &get_raw_field(void) const { return get_unfiltered_field(get_primary()); }
const Vector3f &get_unfiltered_field(uint8_t i) const { return _state[i].unfiltered_field; }
const Vector3f &get_unfiltered_field(void) const { return get_unfiltered_field(get_primary()); }
/// Return the health of a compass
bool healthy(uint8_t i) const { return _state[i].healthy; }
bool healthy(void) const { return healthy(get_primary()); }
@ -319,6 +339,14 @@ private:
// when we last got data
uint32_t last_update_ms;
uint32_t last_update_usec;
uint32_t raw_meas_time_us;
bool has_raw_field;
bool has_unfiltered_field;
bool updated_raw_field;
bool updated_unfiltered_field;
Vector3f raw_field;
Vector3f unfiltered_field;
} _state[COMPASS_MAX_INSTANCES];
// if we want HIL only