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35 lines
873 B
35 lines
873 B
#include "AP_Baro_ExternalAHRS.h" |
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#if HAL_EXTERNAL_AHRS_ENABLED |
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AP_Baro_ExternalAHRS::AP_Baro_ExternalAHRS(AP_Baro &baro, uint8_t port) : |
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AP_Baro_Backend(baro) |
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{ |
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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_SERIAL,port,0,0)); |
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} |
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// Read the sensor |
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void AP_Baro_ExternalAHRS::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_ExternalAHRS::handle_external(const AP_ExternalAHRS::baro_data_message_t &pkt) |
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{ |
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if (pkt.instance != 0) { |
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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.temperature; |
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count++; |
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} |
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#endif // HAL_EXTERNAL_AHRS_ENABLED
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