mirror of https://github.com/ArduPilot/ardupilot
20 lines
552 B
C++
20 lines
552 B
C++
#include "MsgHandler_MAG_Base.h"
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void MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_t *msg)
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{
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wait_timestamp_from_msg(msg);
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Vector3f mag;
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require_field(msg, "Mag", mag);
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Vector3f mag_offset;
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require_field(msg, "Ofs", mag_offset);
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compass.setHIL(mag - mag_offset);
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// compass_offset is which compass we are setting info for;
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// mag_offset is a vector indicating the compass' calibration...
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compass.set_offsets(compass_offset, mag_offset);
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dataflash.Log_Write_Compass(compass);
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}
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