mirror of
https://github.com/ArduPilot/ardupilot
synced 2025-01-03 22:48:29 -04:00
c59bdc12df
the previous approach assumed a 1:1 mapping between compass backends and compass instances, which isn't true on PX4. It also only setup milligauss offsets on a set_and_save call, which is not the only way offsets change this adds a milligauss_ratio per instance, which is considerably simpler
28 lines
551 B
C++
28 lines
551 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_Compass_HIL_H
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#define AP_Compass_HIL_H
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#include "Compass.h"
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#if COMPASS_MAX_INSTANCES == 1
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# define HIL_NUM_COMPASSES 1
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#else
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# define HIL_NUM_COMPASSES 2
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#endif
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class AP_Compass_HIL : public AP_Compass_Backend
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{
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public:
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AP_Compass_HIL(Compass &compass);
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void read(void);
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bool init(void);
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// detect the sensor
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static AP_Compass_Backend *detect(Compass &compass);
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private:
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uint8_t _compass_instance[HIL_NUM_COMPASSES];
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};
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#endif
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