mirror of
https://github.com/ArduPilot/ardupilot
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502b6ee0f7
at all. This lets systems where it's optional decide whether to try to use it or not... git-svn-id: https://arducopter.googlecode.com/svn/trunk@684 f9c3cf11-9bcb-44bc-f272-b75c42450872
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
#ifndef APM_Compass_h
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#define APM_Compass_h
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#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD 0
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#define APM_COMPONENTS_UP_PINS_FORWARD_RIGHT 1
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#define APM_COMPASS_COMPONENTS_UP_PINS_RIGHT 2
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#define APM_COMPONENTS_UP_PINS_BACK_RIGHT 3
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#define APM_COMPASS_COMPONENTS_UP_PINS_BACK 4
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#define APM_COMPONENTS_UP_PINS_BACK_LEFT 5
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#define APM_COMPASS_COMPONENTS_UP_PINS_LEFT 6
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#define APM_COMPONENTS_UP_PINS_FORWARD_LEFT 7
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD 8
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#define APM_COMPONENTS_DOWN_PINS_FORWARD_RIGHT 9
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_RIGHT 10
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#define APM_COMPONENTS_DOWN_PINS_BACK_RIGHT 11
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK 12
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#define APM_COMPONENTS_DOWN_PINS_BACK_LEFT 13
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_LEFT 14
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#define APM_COMPONENTS_DOWN_PINS_FORWARD_LEFT 15
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class APM_Compass_Class
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{
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private:
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int orientation;
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float calibration[3];
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int offset[3];
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float declination;
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public:
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int Mag_X;
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int Mag_Y;
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int Mag_Z;
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float Heading;
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float Heading_X;
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float Heading_Y;
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unsigned long lastUpdate;
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APM_Compass_Class(); // Constructor
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bool Init();
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void Read();
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void Calculate(float roll, float pitch);
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void SetOrientation(int newOrientation);
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void SetOffsets(int x, int y, int z);
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void SetDeclination(float radians);
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};
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extern APM_Compass_Class APM_Compass;
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#endif
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