AP_Compass_ExternalAHRS.cpp

/*
   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/>.
 */

#include <AP_HAL/AP_HAL.h>
#include "AP_Compass_ExternalAHRS.h"

#if AP_COMPASS_EXTERNALAHRS_ENABLED

AP_Compass_Backend *AP_Compass_ExternalAHRS::probe(uint8_t port)
{
    auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,port,0,0);
    auto *ret = NEW_NOTHROW AP_Compass_ExternalAHRS();
    if (ret == nullptr) {
        return nullptr;
    }
    if (!ret->register_compass(devid)) {
        delete ret;
        return nullptr;
    }
    ret->set_external(true);
    return ret;
}

void AP_Compass_ExternalAHRS::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
{
    Vector3f field = pkt.field;
    accumulate_sample(field);
}

void AP_Compass_ExternalAHRS::read(void)
{
    drain_accumulated_samples();
}

#endif // AP_COMPASS_EXTERNALAHRS_ENABLED