ardupilot/libraries/AP_Compass/AP_Compass_HIL.cpp

74 lines
2.1 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* AP_Compass_HIL.cpp - HIL backend for AP_Compass
*
*/
#include <AP_HAL/AP_HAL.h>
#include "AP_Compass_HIL.h"
extern const AP_HAL::HAL& hal;
// constructor
AP_Compass_HIL::AP_Compass_HIL(Compass &compass):
AP_Compass_Backend(compass)
{
memset(_compass_instance, 0, sizeof(_compass_instance));
_compass._setup_earth_field();
}
// detect the sensor
AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass)
{
AP_Compass_HIL *sensor = new AP_Compass_HIL(compass);
if (sensor == nullptr) {
return nullptr;
}
if (!sensor->init()) {
delete sensor;
return nullptr;
}
return sensor;
}
bool
AP_Compass_HIL::init(void)
{
// register two compass instances
for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) {
_compass_instance[i] = register_compass();
}
return true;
}
void AP_Compass_HIL::read()
{
for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) {
if (_compass._hil.healthy[i]) {
uint8_t compass_instance = _compass_instance[i];
Vector3f field = _compass._hil.field[compass_instance];
rotate_field(field, compass_instance);
publish_raw_field(field, AP_HAL::micros(), compass_instance);
correct_field(field, compass_instance);
uint32_t saved_last_update = _compass.last_update_usec(compass_instance);
publish_filtered_field(field, compass_instance);
set_last_update_usec(saved_last_update, compass_instance);
}
}
}