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_Compass_MSP.h"
      17             : 
      18             : #if AP_COMPASS_MSP_ENABLED
      19             : 
      20             : #include <AP_HAL/AP_HAL.h>
      21             : 
      22           0 : AP_Compass_Backend *AP_Compass_MSP::probe(uint8_t _msp_instance)
      23             : {
      24           0 :     auto *ret = NEW_NOTHROW AP_Compass_MSP(_msp_instance);
      25           0 :     if (ret == nullptr) {
      26           0 :         return nullptr;
      27             :     }
      28           0 :     if (!ret->init()) {
      29           0 :         delete ret;
      30           0 :         return nullptr;
      31             :     }
      32           0 :     return ret;
      33             : }
      34             : 
      35           0 : bool AP_Compass_MSP::init()
      36             : {
      37           0 :     auto devid = AP_HAL::Device::make_bus_id(AP_HAL::Device::BUS_TYPE_MSP, 0, msp_instance, 0);
      38           0 :     if (!register_compass(devid)) {
      39           0 :         return false;
      40             :     }
      41             : 
      42           0 :     set_external(true);
      43             : 
      44           0 :     return true;
      45             : }
      46             : 
      47           0 : void AP_Compass_MSP::handle_msp(const MSP::msp_compass_data_message_t &pkt)
      48             : {
      49           0 :     if (pkt.instance != msp_instance) {
      50           0 :         return;
      51             :     }
      52           0 :     Vector3f field(pkt.magX, pkt.magY, pkt.magZ);
      53           0 :     accumulate_sample(field, instance);
      54             : }
      55             : 
      56             : #endif // AP_COMPASS_MSP_ENABLED
      57             :