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<title>ArduPilot Libraries: Compass.h Source File</title>
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<h1>Compass.h</h1> </div>
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<a href="_compass_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#ifndef Compass_h</span>
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<a name="l00002"></a>00002 <span class="preprocessor"></span><span class="preprocessor">#define Compass_h</span>
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<a name="l00003"></a>00003 <span class="preprocessor"></span>
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<a name="l00004"></a>00004 <span class="preprocessor">#include <inttypes.h></span>
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<a name="l00005"></a>00005 <span class="preprocessor">#include "../AP_Math/AP_Math.h"</span>
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<a name="l00006"></a>00006
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<a name="l00007"></a><a class="code" href="class_compass.html">00007</a> <span class="keyword">class </span><a class="code" href="class_compass.html">Compass</a>
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<a name="l00008"></a>00008 {
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<a name="l00009"></a>00009 <span class="keyword">public</span>:
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<a name="l00010"></a><a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">00010</a> <span class="keywordtype">int</span> <a class="code" href="class_compass.html#a8324bcab8618a2a2076a511dec2cc8a0">mag_x</a>;
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<a name="l00011"></a><a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">00011</a> <span class="keywordtype">int</span> <a class="code" href="class_compass.html#a4de5f44fab49fabf8524ea79e9d3f84a">mag_y</a>;
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<a name="l00012"></a><a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">00012</a> <span class="keywordtype">int</span> <a class="code" href="class_compass.html#a6c05eabd47bd8116c4823481c3ea4549">mag_z</a>;
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<a name="l00013"></a><a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">00013</a> <span class="keywordtype">float</span> <a class="code" href="class_compass.html#af34cf40b43e957554a48ed27b848a35f">heading</a>;
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<a name="l00014"></a><a class="code" href="class_compass.html#aafc7608bd711702f519d52afbc06dc7a">00014</a> <span class="keywordtype">float</span> <a class="code" href="class_compass.html#aafc7608bd711702f519d52afbc06dc7a">heading_x</a>;
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<a name="l00015"></a><a class="code" href="class_compass.html#a2e1554fb76b067f36d011f59e7e8dd58">00015</a> <span class="keywordtype">float</span> <a class="code" href="class_compass.html#a2e1554fb76b067f36d011f59e7e8dd58">heading_y</a>;
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<a name="l00016"></a><a class="code" href="class_compass.html#a66419d0c87ac23bc422db0279486fd31">00016</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code" href="class_compass.html#a66419d0c87ac23bc422db0279486fd31">last_update</a>;
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<a name="l00017"></a>00017
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<a name="l00018"></a>00018 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="class_compass.html#a6de4eb3c975bd7757885a6661cf1a79e">init</a>(<span class="keywordtype">int</span> initialise_wire_lib = 1) = 0;
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<a name="l00019"></a>00019 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_compass.html#a270aff91583d79826f27f09d64072be8">read</a>() = 0;
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<a name="l00020"></a>00020 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_compass.html#a922be89b146a3712699f8506a298d8f2">calculate</a>(<span class="keywordtype">float</span> roll, <span class="keywordtype">float</span> pitch) = 0;
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<a name="l00021"></a>00021 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_compass.html#a9c7556a20a579b2f47a67d1b3d67331c">set_orientation</a>(<span class="keyword">const</span> <a class="code" href="class_matrix3.html">Matrix3f</a> &rotation_matrix) = 0;
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<a name="l00022"></a>00022 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_compass.html#ad806fb3a6cfe66ab41098705252f8989">set_offsets</a>(<span class="keywordtype">int</span> x, <span class="keywordtype">int</span> y, <span class="keywordtype">int</span> z) = 0;
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<a name="l00023"></a>00023 <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code" href="class_compass.html#a7fb27fec44c834a4073dc84da445827d">set_declination</a>(<span class="keywordtype">float</span> radians) = 0;
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<a name="l00024"></a>00024 };
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<a name="l00025"></a>00025 <span class="preprocessor">#endif</span>
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</pre></div></div>
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