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https://github.com/ArduPilot/ardupilot.git
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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
31 lines
579 B
C++
31 lines
579 B
C++
#pragma once
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#include "AP_Compass_config.h"
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#if AP_COMPASS_MSP_ENABLED
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#include "AP_Compass.h"
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#include "AP_Compass_Backend.h"
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#include <AP_MSP/msp.h>
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class AP_Compass_MSP : public AP_Compass_Backend
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{
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public:
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static AP_Compass_Backend *probe(uint8_t _msp_instance);
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void read(void) override;
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private:
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AP_Compass_MSP(uint8_t _msp_instance) :
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msp_instance{_msp_instance} { }
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bool init();
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void handle_msp(const MSP::msp_compass_data_message_t &pkt) override;
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uint8_t msp_instance;
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uint8_t instance;
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};
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#endif // AP_COMPASS_MSP_ENABLED
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