mirror of https://github.com/ArduPilot/ardupilot
48 lines
1.3 KiB
C++
48 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_BACK 0
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#define APM_COMPONENTS_UP_PINS_BACK_LEFT 1
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#define APM_COMPASS_COMPONENTS_UP_PINS_LEFT 2
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#define APM_COMPONENTS_UP_PINS_FORWARD_LEFT 3
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#define APM_COMPASS_COMPONENTS_UP_PINS_FORWARD 4
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#define APM_COMPONENTS_UP_PINS_FORWARD_RIGHT 5
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#define APM_COMPASS_COMPONENTS_UP_PINS_RIGHT 6
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#define APM_COMPONENTS_UP_PINS_BACK_RIGHT 7
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_BACK 8
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#define APM_COMPONENTS_DOWN_PINS_BACK_LEFT 9
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_LEFT 10
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#define APM_COMPONENTS_DOWN_PINS_FORWARD_LEFT 11
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_FORWARD 12
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#define APM_COMPONENTS_DOWN_PINS_FORWARD_RIGHT 13
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#define APM_COMPASS_COMPONENTS_DOWN_PINS_RIGHT 14
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#define APM_COMPONENTS_DOWN_PINS_BACK_RIGHT 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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APM_Compass_Class(); // Constructor
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void 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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