mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-06-28 01:30:36 +08:00
Daniel Agar
81 lines
2.7 KiB
C++
81 lines
2.7 KiB
C++
/****************************************************************************
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*
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* Copyright (c) 2018 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include "PX4Magnetometer.hpp"
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#include <lib/drivers/device/Device.hpp>
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PX4Magnetometer::PX4Magnetometer(uint32_t device_id, enum Rotation rotation) :
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_device_id{device_id},
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_rotation{rotation}
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{
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}
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PX4Magnetometer::~PX4Magnetometer()
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{
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_sensor_pub.unadvertise();
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}
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void PX4Magnetometer::set_device_type(uint8_t devtype)
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{
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// current DeviceStructure
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union device::Device::DeviceId device_id;
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device_id.devid = _device_id;
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// update to new device type
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device_id.devid_s.devtype = devtype;
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// copy back
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_device_id = device_id.devid;
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}
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void PX4Magnetometer::update(const hrt_abstime ×tamp_sample, float x, float y, float z)
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{
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sensor_mag_s report;
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report.timestamp_sample = timestamp_sample;
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report.device_id = _device_id;
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report.temperature = _temperature;
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report.error_count = _error_count;
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// Apply rotation (before scaling)
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rotate_3f(_rotation, x, y, z);
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report.x = x * _scale;
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report.y = y * _scale;
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report.z = z * _scale;
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report.timestamp = hrt_absolute_time();
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_sensor_pub.publish(report);
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}
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