You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
75 lines
2.2 KiB
75 lines
2.2 KiB
/* |
|
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() |
|
{ |
|
memset(_compass_instance, 0, sizeof(_compass_instance)); |
|
_compass._setup_earth_field(); |
|
} |
|
|
|
// detect the sensor |
|
AP_Compass_Backend *AP_Compass_HIL::detect() |
|
{ |
|
AP_Compass_HIL *sensor = new AP_Compass_HIL(); |
|
if (sensor == nullptr) { |
|
return nullptr; |
|
} |
|
if (!sensor->init()) { |
|
delete sensor; |
|
return nullptr; |
|
} |
|
return sensor; |
|
} |
|
|
|
bool |
|
AP_Compass_HIL::init(void) |
|
{ |
|
// register compass instances |
|
for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) { |
|
uint32_t dev_id = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SITL, i, 0, DEVTYPE_SITL); |
|
if (!register_compass(dev_id, _compass_instance[i])) { |
|
return false; |
|
} |
|
} |
|
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, 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); |
|
} |
|
} |
|
}
|
|
|