Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include <AP_HAL/AP_HAL.h>
      17             : #include "AP_Compass_ExternalAHRS.h"
      18             : 
      19             : #if AP_COMPASS_EXTERNALAHRS_ENABLED
      20             : 
      21          62 : AP_Compass_Backend *AP_Compass_ExternalAHRS::probe(uint8_t port)
      22             : {
      23          62 :     auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_SERIAL,port,0,0);
      24          62 :     auto *ret = NEW_NOTHROW AP_Compass_ExternalAHRS();
      25          62 :     if (ret == nullptr) {
      26           0 :         return nullptr;
      27             :     }
      28          62 :     if (!ret->register_compass(devid)) {
      29          62 :         delete ret;
      30          62 :         return nullptr;
      31             :     }
      32           0 :     ret->set_external(true);
      33           0 :     return ret;
      34             : }
      35             : 
      36           0 : void AP_Compass_ExternalAHRS::handle_external(const AP_ExternalAHRS::mag_data_message_t &pkt)
      37             : {
      38           0 :     Vector3f field = pkt.field;
      39           0 :     accumulate_sample(field);
      40           0 : }
      41             : 
      42             : #endif // AP_COMPASS_EXTERNALAHRS_ENABLED