From 473d321af8bead4bd45299ad723b4c7beec94bce Mon Sep 17 00:00:00 2001
From: Pavel Kirienko <pavel.kirienko@gmail.com>
Date: Sun, 16 Aug 2015 23:04:41 +0300
Subject: [PATCH] UAVCAN Magnetometer driver update - no logical changes

---
 src/modules/uavcan/sensors/mag.cpp | 10 +++++-----
 src/modules/uavcan/sensors/mag.hpp |  8 ++++----
 2 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/src/modules/uavcan/sensors/mag.cpp b/src/modules/uavcan/sensors/mag.cpp
index d08f5ed32b..ef9613b1f7 100644
--- a/src/modules/uavcan/sensors/mag.cpp
+++ b/src/modules/uavcan/sensors/mag.cpp
@@ -45,7 +45,7 @@ UavcanMagnetometerBridge::UavcanMagnetometerBridge(uavcan::INode &node) :
 	UavcanCDevSensorBridgeBase("uavcan_mag", "/dev/uavcan/mag", MAG_BASE_DEVICE_PATH, ORB_ID(sensor_mag)),
 	_sub_mag(node)
 {
-	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;
+	_device_id.devid_s.devtype = DRV_MAG_DEVTYPE_HMC5883;     // <-- Why?
 
 	_scale.x_scale = 1.0F;
 	_scale.y_scale = 1.0F;
@@ -141,16 +141,16 @@ int UavcanMagnetometerBridge::ioctl(struct file *filp, int cmd, unsigned long ar
 	}
 }
 
-void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer>
+void UavcanMagnetometerBridge::mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength>
 		&msg)
 {
 	lock();
 	_report.range_ga = 1.3F;   // Arbitrary number, doesn't really mean anything
 	_report.timestamp = msg.getMonotonicTimestamp().toUSec();
 
-	_report.x = (msg.magnetic_field[0] - _scale.x_offset) * _scale.x_scale;
-	_report.y = (msg.magnetic_field[1] - _scale.y_offset) * _scale.y_scale;
-	_report.z = (msg.magnetic_field[2] - _scale.z_offset) * _scale.z_scale;
+	_report.x = (msg.magnetic_field_ga[0] - _scale.x_offset) * _scale.x_scale;
+	_report.y = (msg.magnetic_field_ga[1] - _scale.y_offset) * _scale.y_scale;
+	_report.z = (msg.magnetic_field_ga[2] - _scale.z_offset) * _scale.z_scale;
 	unlock();
 
 	publish(msg.getSrcNodeID().get(), &_report);
diff --git a/src/modules/uavcan/sensors/mag.hpp b/src/modules/uavcan/sensors/mag.hpp
index b74afeb0be..a13883a494 100644
--- a/src/modules/uavcan/sensors/mag.hpp
+++ b/src/modules/uavcan/sensors/mag.hpp
@@ -40,7 +40,7 @@
 #include "sensor_bridge.hpp"
 #include <drivers/drv_mag.h>
 
-#include <uavcan/equipment/ahrs/Magnetometer.hpp>
+#include <uavcan/equipment/ahrs/MagneticFieldStrength.hpp>
 
 class UavcanMagnetometerBridge : public UavcanCDevSensorBridgeBase
 {
@@ -57,14 +57,14 @@ private:
 	ssize_t	read(struct file *filp, char *buffer, size_t buflen);
 	int ioctl(struct file *filp, int cmd, unsigned long arg) override;
 
-	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &msg);
+	void mag_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &msg);
 
 	typedef uavcan::MethodBinder < UavcanMagnetometerBridge *,
 		void (UavcanMagnetometerBridge::*)
-		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::Magnetometer> &) >
+		(const uavcan::ReceivedDataStructure<uavcan::equipment::ahrs::MagneticFieldStrength> &) >
 		MagCbBinder;
 
-	uavcan::Subscriber<uavcan::equipment::ahrs::Magnetometer, MagCbBinder> _sub_mag;
+	uavcan::Subscriber<uavcan::equipment::ahrs::MagneticFieldStrength, MagCbBinder> _sub_mag;
 	mag_scale _scale = {};
 	mag_report _report =  {};
 };