mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Peter Barker
9ea20dc132
currently registering an MSP backend can't fail, so if we fail to register (e.g. out of slots) then we can end up overwriting other's data. Add a probe method which can return nullptr on failure
64 lines
1.6 KiB
C++
64 lines
1.6 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_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_Backend *AP_Compass_MSP::probe(uint8_t _msp_instance)
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{
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auto *ret = NEW_NOTHROW AP_Compass_MSP(_msp_instance);
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if (ret == nullptr) {
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return nullptr;
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}
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if (!ret->init()) {
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delete ret;
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return nullptr;
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}
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return ret;
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}
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bool AP_Compass_MSP::init()
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{
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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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if (!register_compass(devid, instance)) {
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return false;
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}
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set_dev_id(instance, devid);
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set_external(instance, true);
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return 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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