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33 lines
842 B
33 lines
842 B
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- |
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#ifndef AP_Compass_PX4_H |
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#define AP_Compass_PX4_H |
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#include "Compass.h" |
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class AP_Compass_PX4 : public Compass |
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{ |
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public: |
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AP_Compass_PX4() : Compass() { |
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product_id = AP_COMPASS_TYPE_PX4; |
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_num_instances = 0; |
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} |
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bool init(void); |
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bool read(void); |
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void accumulate(void); |
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// return the number of compass instances |
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uint8_t get_count(void) const { return _num_instances; } |
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private: |
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uint8_t _get_primary(void) const; |
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uint8_t _num_instances; |
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int _mag_fd[COMPASS_MAX_INSTANCES]; |
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Vector3f _sum[COMPASS_MAX_INSTANCES]; |
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uint32_t _count[COMPASS_MAX_INSTANCES]; |
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uint64_t _last_timestamp[COMPASS_MAX_INSTANCES]; |
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bool _is_external[COMPASS_MAX_INSTANCES]; |
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}; |
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#endif // AP_Compass_PX4_H |
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