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36 lines
862 B
36 lines
862 B
#include "AP_Baro_MSP.h" |
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#if HAL_MSP_BARO_ENABLED |
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AP_Baro_MSP::AP_Baro_MSP(AP_Baro &baro, uint8_t _msp_instance) : |
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AP_Baro_Backend(baro) |
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{ |
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msp_instance = _msp_instance; |
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instance = _frontend.register_sensor(); |
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set_bus_id(instance, AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP,0,msp_instance,0)); |
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} |
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// Read the sensor |
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void AP_Baro_MSP::update(void) |
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{ |
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if (count) { |
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WITH_SEMAPHORE(_sem); |
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_copy_to_frontend(instance, sum_pressure/count, sum_temp/count); |
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sum_pressure = sum_temp = 0; |
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count = 0; |
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} |
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} |
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void AP_Baro_MSP::handle_msp(const MSP::msp_baro_data_message_t &pkt) |
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{ |
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if (pkt.instance != msp_instance) { |
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// not for us |
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return; |
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} |
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WITH_SEMAPHORE(_sem); |
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sum_pressure += pkt.pressure_pa; |
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sum_temp += pkt.temp*0.01; |
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count++; |
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} |
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#endif // HAL_MSP_BARO_ENABLED
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