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43 lines
1.3 KiB
43 lines
1.3 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_Compass_ExternalAHRS.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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AP_Compass_ExternalAHRS::AP_Compass_ExternalAHRS(uint8_t port) |
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{ |
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auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,port,0,0); |
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register_compass(devid, instance); |
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set_dev_id(instance, devid); |
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set_external(instance, true); |
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} |
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void AP_Compass_ExternalAHRS::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt) |
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{ |
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Vector3f field = pkt.field; |
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accumulate_sample(field, instance); |
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} |
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void AP_Compass_ExternalAHRS::read(void) |
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{ |
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drain_accumulated_samples(instance); |
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} |
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#endif // HAL_EXTERNAL_AHRS_ENABLED |
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