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74 lines
2.2 KiB
74 lines
2.2 KiB
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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/* |
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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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/* |
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* AP_Compass_HIL.cpp - HIL backend for AP_Compass |
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* |
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*/ |
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#include <AP_HAL/AP_HAL.h> |
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#include "AP_Compass_HIL.h" |
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extern const AP_HAL::HAL& hal; |
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// constructor |
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AP_Compass_HIL::AP_Compass_HIL(Compass &compass): |
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AP_Compass_Backend(compass) |
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{ |
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memset(_compass_instance, 0, sizeof(_compass_instance)); |
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_compass._setup_earth_field(); |
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} |
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// detect the sensor |
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AP_Compass_Backend *AP_Compass_HIL::detect(Compass &compass) |
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{ |
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AP_Compass_HIL *sensor = new AP_Compass_HIL(compass); |
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if (sensor == NULL) { |
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return NULL; |
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} |
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if (!sensor->init()) { |
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delete sensor; |
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return NULL; |
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} |
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return sensor; |
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} |
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bool |
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AP_Compass_HIL::init(void) |
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{ |
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// register two compass instances |
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for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) { |
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_compass_instance[i] = register_compass(); |
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} |
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return true; |
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} |
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void AP_Compass_HIL::read() |
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{ |
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for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) { |
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if (_compass._hil.healthy[i]) { |
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uint8_t compass_instance = _compass_instance[i]; |
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Vector3f field = _compass._hil.field[compass_instance]; |
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rotate_field(field, compass_instance); |
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publish_raw_field(field, AP_HAL::micros(), compass_instance); |
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correct_field(field, compass_instance); |
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uint32_t saved_last_update = _compass.last_update_usec(compass_instance); |
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publish_filtered_field(field, compass_instance); |
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set_last_update_usec(saved_last_update, compass_instance); |
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} |
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} |
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}
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