mirror of https://github.com/ArduPilot/ardupilot
35 lines
854 B
C++
35 lines
854 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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#ifndef AP_Compass_VRBRAIN_H
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#define AP_Compass_VRBRAIN_H
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#include "Compass.h"
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class AP_Compass_VRBRAIN : public Compass
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{
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public:
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AP_Compass_VRBRAIN() : Compass() {
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product_id = AP_COMPASS_TYPE_VRBRAIN;
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_num_instances = 0;
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}
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bool init(void);
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bool read(void);
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void accumulate(void);
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// return the number of compass instances
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uint8_t get_count(void) const { return _num_instances; }
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// return the primary compass
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uint8_t get_primary(void) const;
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private:
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uint8_t _num_instances;
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int _mag_fd[COMPASS_MAX_INSTANCES];
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Vector3f _sum[COMPASS_MAX_INSTANCES];
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uint32_t _count[COMPASS_MAX_INSTANCES];
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uint64_t _last_timestamp[COMPASS_MAX_INSTANCES];
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};
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#endif // AP_Compass_VRBRAIN_H
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