PX4Magnetometer.hpp
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/****************************************************************************
*
* Copyright (c) 2018 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#pragma once
#include <drivers/drv_hrt.h>
#include <lib/conversion/rotation.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_mag.h>
class PX4Magnetometer
{
public:
PX4Magnetometer(uint32_t device_id, enum Rotation rotation = ROTATION_NONE);
~PX4Magnetometer();
bool external() { return _external; }
void set_device_id(uint32_t device_id) { _device_id = device_id; }
void set_device_type(uint8_t devtype);
void set_error_count(uint32_t error_count) { _error_count = error_count; }
void increase_error_count() { _error_count++; }
void set_scale(float scale) { _scale = scale; }
void set_temperature(float temperature) { _temperature = temperature; }
void set_external(bool external) { _external = external; }
void update(const hrt_abstime ×tamp_sample, float x, float y, float z);
int get_instance() { return _sensor_pub.get_instance(); };
private:
uORB::PublicationMulti<sensor_mag_s> _sensor_pub{ORB_ID(sensor_mag)};
uint32_t _device_id{0};
const enum Rotation _rotation;
float _scale{1.f};
float _temperature{NAN};
uint32_t _error_count{0};
bool _external{false};
};