mirror of https://github.com/ArduPilot/ardupilot
34 lines
842 B
C++
34 lines
842 B
C++
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
|
|
|
|
#ifndef AP_Compass_PX4_H
|
|
#define AP_Compass_PX4_H
|
|
|
|
#include "Compass.h"
|
|
|
|
class AP_Compass_PX4 : public Compass
|
|
{
|
|
public:
|
|
AP_Compass_PX4() : Compass() {
|
|
product_id = AP_COMPASS_TYPE_PX4;
|
|
_num_instances = 0;
|
|
}
|
|
bool init(void);
|
|
bool read(void);
|
|
void accumulate(void);
|
|
|
|
// return the number of compass instances
|
|
uint8_t get_count(void) const { return _num_instances; }
|
|
|
|
private:
|
|
uint8_t _get_primary(void) const;
|
|
uint8_t _num_instances;
|
|
int _mag_fd[COMPASS_MAX_INSTANCES];
|
|
Vector3f _sum[COMPASS_MAX_INSTANCES];
|
|
uint32_t _count[COMPASS_MAX_INSTANCES];
|
|
uint64_t _last_timestamp[COMPASS_MAX_INSTANCES];
|
|
bool _is_external[COMPASS_MAX_INSTANCES];
|
|
};
|
|
|
|
#endif // AP_Compass_PX4_H
|
|
|