mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
39a4032f70
this allows for the creation of the backend to fail gracefully without this the backend will still have a value of 0, and will still get updated, overwriting the data for one of the registered compasses
49 lines
1.5 KiB
C++
49 lines
1.5 KiB
C++
/*
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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_Backend *AP_Compass_ExternalAHRS::probe(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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auto *ret = NEW_NOTHROW AP_Compass_ExternalAHRS();
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if (ret == nullptr) {
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return nullptr;
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}
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if (!ret->register_compass(devid, ret->instance)) {
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delete ret;
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return nullptr;
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}
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ret->set_dev_id(ret->instance, devid);
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ret->set_external(ret->instance, true);
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return ret;
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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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