ardupilot/libraries/AP_Compass/AP_Compass_HIL.cpp

41 lines
1.1 KiB
C++

/*
* AP_Compass_HIL.cpp - Arduino Library for HIL model of HMC5843 I2C Magnetometer
* Code by James Goppert. DIYDrones.com
*
* This library is free software; you can redistribute it and / or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*/
#include <AP_HAL.h>
#include "AP_Compass_HIL.h"
extern const AP_HAL::HAL& hal;
// Public Methods //////////////////////////////////////////////////////////////
bool AP_Compass_HIL::read()
{
// values set by setHIL function
last_update = hal.scheduler->micros(); // record time of update
return true;
}
// Update raw magnetometer values from HIL data
//
void AP_Compass_HIL::setHIL(float _mag_x, float _mag_y, float _mag_z)
{
Vector3f ofs = _offset.get();
mag_x = _mag_x + ofs.x;
mag_y = _mag_y + ofs.y;
mag_z = _mag_z + ofs.z;
healthy = true;
}
void AP_Compass_HIL::accumulate(void)
{
// nothing to do
}