ardupilot/libraries/AP_Compass/AP_Compass_MSP.cpp

48 lines
1.3 KiB
C++

/*
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/>.
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Compass_MSP.h"
#if HAL_MSP_COMPASS_ENABLED
AP_Compass_MSP::AP_Compass_MSP(uint8_t _msp_instance)
{
msp_instance = _msp_instance;
auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP, 0, _msp_instance, 0);
register_compass(devid, instance);
set_dev_id(instance, devid);
set_external(instance, true);
}
void AP_Compass_MSP::handle_msp(const MSP::msp_compass_data_message_t &pkt)
{
if (pkt.instance != msp_instance) {
return;
}
Vector3f field(pkt.magX, pkt.magY, pkt.magZ);
accumulate_sample(field, instance);
}
void AP_Compass_MSP::read(void)
{
drain_accumulated_samples(instance);
}
#endif // HAL_MSP_COMPASS_ENABLED