mirror of https://github.com/ArduPilot/ardupilot
36 lines
858 B
C++
36 lines
858 B
C++
#include "AP_DAL_Baro.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_Baro::AP_DAL_Baro()
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{
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for (uint8_t i=0; i<BARO_MAX_INSTANCES; i++) {
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_RBRI[i].instance = i;
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}
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}
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void AP_DAL_Baro::start_frame()
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{
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const auto &baro = AP::baro();
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const log_RBRH old_RBRH = _RBRH;
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_RBRH.primary = baro.get_primary();
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_RBRH.num_instances = baro.num_instances();
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WRITE_REPLAY_BLOCK_IFCHANGED(RBRH, _RBRH, old_RBRH);
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for (uint8_t i=0; i<_RBRH.num_instances; i++) {
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log_RBRI &RBRI = _RBRI[i];
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log_RBRI old = RBRI;
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RBRI.last_update_ms = baro.get_last_update(i);
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RBRI.healthy = baro.healthy(i);
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RBRI.altitude = baro.get_altitude(i);
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WRITE_REPLAY_BLOCK_IFCHANGED(RBRI, _RBRI[i], old);
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}
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}
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void AP_DAL_Baro::update_calibration()
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{
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AP::baro().update_calibration();
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}
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