mirror of https://github.com/ArduPilot/ardupilot
74 lines
2.1 KiB
C++
74 lines
2.1 KiB
C++
/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* AP_Compass_HIL.cpp - HIL backend for AP_Compass
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*
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*/
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#include <AP_HAL/AP_HAL.h>
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#include "AP_Compass_HIL.h"
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
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AP_Compass_Backend(compass)
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{
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memset(_compass_instance, 0, sizeof(_compass_instance));
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_compass._setup_earth_field();
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}
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// detect the sensor
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AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass)
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{
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AP_Compass_HIL *sensor = new AP_Compass_HIL(compass);
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if (sensor == nullptr) {
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return nullptr;
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}
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if (!sensor->init()) {
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delete sensor;
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return nullptr;
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}
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return sensor;
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}
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bool
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AP_Compass_HIL::init(void)
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{
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// register two compass instances
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for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) {
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_compass_instance[i] = register_compass();
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}
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return true;
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}
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void AP_Compass_HIL::read()
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{
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for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) {
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if (_compass._hil.healthy[i]) {
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uint8_t compass_instance = _compass_instance[i];
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Vector3f field = _compass._hil.field[compass_instance];
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rotate_field(field, compass_instance);
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publish_raw_field(field, AP_HAL::micros(), compass_instance);
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correct_field(field, compass_instance);
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uint32_t saved_last_update = _compass.last_update_usec(compass_instance);
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publish_filtered_field(field, compass_instance);
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set_last_update_usec(saved_last_update, compass_instance);
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}
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}
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}
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