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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_ExternalAHRS.cpp
Views: 1798
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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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#include <AP_HAL/AP_HAL.h>

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#include "AP_Compass_ExternalAHRS.h"

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#if AP_COMPASS_EXTERNALAHRS_ENABLED

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AP_Compass_ExternalAHRS::AP_Compass_ExternalAHRS(uint8_t port)

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{

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    auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,port,0,0);

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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_ExternalAHRS::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)

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{

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    Vector3f field = pkt.field;

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    accumulate_sample(field, instance);

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}

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void AP_Compass_ExternalAHRS::read(void)

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{

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    drain_accumulated_samples(instance);

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}

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#endif // AP_COMPASS_EXTERNALAHRS_ENABLED

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