mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-04 15:08:28 -04:00
0fce0eb488
a saturated compass is now marked unhealthy, rather than causing the code to spin waiting for a valid sample. This fixes a problem with strong magnets causing the main flight loop to stop
30 lines
644 B
C++
30 lines
644 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_Compass_PX4_H
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#define AP_Compass_PX4_H
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#include "Compass.h"
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class AP_Compass_PX4 : public Compass
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{
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public:
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AP_Compass_PX4() : Compass() {
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product_id = AP_COMPASS_TYPE_PX4;
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}
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bool init(void);
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bool read(void);
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void accumulate(void);
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private:
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static int _mag_fd;
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static Vector3f _sum;
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static uint32_t _count;
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static uint32_t _last_timer;
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static uint64_t _last_timestamp;
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static void _accumulate(void);
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static void _compass_timer(uint32_t now);
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};
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#endif // AP_Compass_PX4_H
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