ardupilot/libraries/AP_Compass/AP_Compass_Backend.cpp

89 lines
2.3 KiB
C++

/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL.h>
#include "Compass.h"
#include "AP_Compass_Backend.h"
extern const AP_HAL::HAL& hal;
AP_Compass_Backend::AP_Compass_Backend(Compass &compass) :
_compass(compass)
{}
/*
copy latest data to the frontend from a backend
*/
void AP_Compass_Backend::publish_field(const Vector3f &mag, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];
state.field = mag;
// apply default board orientation for this compass type. This is
// a noop on most boards
state.field.rotate(MAG_BOARD_ORIENTATION);
if (!state.external) {
// and add in AHRS_ORIENTATION setting if not an external compass
state.field.rotate(_compass._board_orientation);
} else {
// add user selectable orientation
state.field.rotate((enum Rotation)state.orientation.get());
}
apply_corrections(state.field, instance);
state.last_update_ms = hal.scheduler->millis();
_compass._last_update_usec = hal.scheduler->micros();
}
/*
register a new backend with frontend, returning instance which
should be used in publish_field()
*/
uint8_t AP_Compass_Backend::register_compass(void) const
{
return _compass.register_compass();
}
/*
apply offset and motor compensation corrections
*/
void AP_Compass_Backend::apply_corrections(Vector3f &mag, uint8_t i)
{
Compass::mag_state &state = _compass._state[i];
const Vector3f &offsets = state.offset.get();
const Vector3f &mot = state.motor_compensation.get();
/*
note that _motor_offset[] is kept even if compensation is not
being applied so it can be logged correctly
*/
mag += offsets;
if(_compass._motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && _compass._thr_or_curr != 0.0f) {
state.motor_offset = mot * _compass._thr_or_curr;
mag += state.motor_offset;
} else {
state.motor_offset.zero();
}
}
/*
set dev_id for an instance
*/
void AP_Compass_Backend::set_dev_id(uint8_t instance, uint32_t dev_id)
{
#if COMPASS_MAX_INSTANCES > 1
_compass._state[instance].dev_id.set(dev_id);
#endif
}
/*
set external for an instance
*/
void AP_Compass_Backend::set_external(uint8_t instance, bool external)
{
_compass._state[instance].external.set(external);
}