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47 lines
1.3 KiB
47 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_MSP.h" |
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#if HAL_MSP_COMPASS_ENABLED |
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AP_Compass_MSP::AP_Compass_MSP(uint8_t _msp_instance) |
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{ |
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msp_instance = _msp_instance; |
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auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP, 0, _msp_instance, 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_MSP::handle_msp(const MSP::msp_compass_data_message_t &pkt) |
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{ |
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if (pkt.instance != msp_instance) { |
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return; |
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} |
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Vector3f field(pkt.magX, pkt.magY, pkt.magZ); |
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accumulate_sample(field, instance); |
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} |
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void AP_Compass_MSP::read(void) |
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{ |
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drain_accumulated_samples(instance); |
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} |
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#endif // HAL_MSP_COMPASS_ENABLED |
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