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GitHub Repository: Ardupilot/ardupilot
 Path: blob/master/libraries/AP_Compass/AP_Compass_MSP.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_Compass_MSP.h"

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#if AP_COMPASS_MSP_ENABLED

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#include <AP_HAL/AP_HAL.h>

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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 // AP_COMPASS_MSP_ENABLED

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