mirror of https://github.com/ArduPilot/ardupilot
44 lines
1.3 KiB
C++
44 lines
1.3 KiB
C++
#include "AP_DAL_Compass.h"
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#include <AP_Compass/AP_Compass.h>
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#include <AP_Logger/AP_Logger.h>
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#include "AP_DAL.h"
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AP_DAL_Compass::AP_DAL_Compass()
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{
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for (uint8_t i=0; i<ARRAY_SIZE(_RMGI); i++) {
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_RMGI[i].instance = i;
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}
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}
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void AP_DAL_Compass::start_frame()
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{
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const auto &compass = AP::compass();
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const log_RMGH old = _RMGH;
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_RMGH.available = compass.available();
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_RMGH.count = compass.get_count();
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_RMGH.auto_declination_enabled = compass.auto_declination_enabled();
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_RMGH.declination = compass.get_declination();
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_RMGH.num_enabled = compass.get_num_enabled();
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_RMGH.consistent = compass.consistent();
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_RMGH.first_usable = compass.get_first_usable();
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_RMGH.learn_offsets_enabled = compass.learn_offsets_enabled();
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WRITE_REPLAY_BLOCK_IFCHANGED(RMGH, _RMGH, old);
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for (uint8_t i=0; i<_RMGH.count; i++) {
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log_RMGI &RMGI = _RMGI[i];
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const log_RMGI old_RMGI = RMGI;
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RMGI.use_for_yaw = compass.use_for_yaw(i);
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RMGI.healthy = compass.healthy(i);
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RMGI.offsets = compass.get_offsets(i);
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RMGI.have_scale_factor = compass.have_scale_factor(i);
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RMGI.last_update_usec = compass.last_update_usec(i);
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RMGI.field = compass.get_field(i);
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WRITE_REPLAY_BLOCK_IFCHANGED(RMGI, RMGI, old_RMGI);
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}
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}
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