mirror of https://github.com/ArduPilot/ardupilot
45 lines
969 B
C++
45 lines
969 B
C++
#pragma once
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
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#include <SITL/SITL.h>
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#include <AP_Math/vectorN.h>
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#include <AP_Math/AP_Math.h>
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#include <AP_Declination/AP_Declination.h>
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#define MAX_SITL_COMPASSES 3
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class AP_Compass_SITL : public AP_Compass_Backend {
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public:
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AP_Compass_SITL();
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void read(void) override;
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private:
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uint8_t _compass_instance[MAX_SITL_COMPASSES];
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uint8_t _num_compass;
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SITL::SITL *_sitl;
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// delay buffer variables
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struct readings_compass {
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uint32_t time;
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Vector3f data;
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};
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uint8_t store_index;
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uint32_t last_store_time;
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static const uint8_t buffer_length = 50;
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VectorN<readings_compass,buffer_length> buffer;
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void _timer();
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uint32_t _last_sample_time;
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void _setup_eliptical_correcion(uint8_t i);
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Matrix3f _eliptical_corr;
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Vector3f _last_dia;
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Vector3f _last_odi;
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};
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#endif // CONFIG_HAL_BOARD
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