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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#ifndef Compass_h
#define Compass_h
#include <inttypes.h>
#include "AP_Math.h"
// compass product id
#define AP_COMPASS_TYPE_UNKNOWN 0x00
#define AP_COMPASS_TYPE_HIL 0x01
#define AP_COMPASS_TYPE_HMC5843 0x02
#define AP_COMPASS_TYPE_HMC5883L 0x03
class Compass
{
public:
int16_t product_id; /// product id
int16_t mag_x; ///< magnetic field strength along the X axis
int16_t mag_y; ///< magnetic field strength along the Y axis
int16_t mag_z; ///< magnetic field strength along the Z axis
float heading; ///< compass heading in radians
float heading_x; ///< compass vector X magnitude
float heading_y; ///< compass vector Y magnitude
uint32_t last_update; ///< micros() time of last update
bool healthy; ///< true if last read OK
/// Constructor
///
Compass();
/// Initialize the compass device.
///
/// @returns True if the compass was initialized OK, false if it was not
/// found or is not functioning.
///
virtual bool init();
/// Read the compass and update the mag_ variables.
///
virtual bool read(void) /* = 0 */;
/// Calculate the tilt-compensated heading_ variables.
///
/// @param roll The current airframe roll angle.
/// @param pitch The current airframe pitch angle.
///
// virtual void calculate(float roll, float pitch);
/// Calculate the tilt-compensated heading_ variables.
///
/// @param dcm_matrix The current orientation rotation matrix
///
virtual void calculate(const Matrix3f &dcm_matrix);
/// Set the compass orientation matrix, used to correct for
/// various compass mounting positions.
///
/// @param rotation_matrix Rotation matrix to transform magnetometer readings
/// to the body frame.
///
//virtual void set_orientation(enum Rotation rotation);
/// Sets the compass offset x/y/z values.
///
/// @param offsets Offsets to the raw mag_ values.
///
// virtual void set_offsets(const Vector3f &offsets);
/// Saves the current compass offset x/y/z values.
///
/// This should be invoked periodically to save the offset values maintained by
/// ::null_offsets.
///
// virtual void save_offsets();
/// Returns the current offset values
///
/// @returns The current compass offsets.
///
// virtual Vector3f &get_offsets();
/// Sets the initial location used to get declination
///
/// @param latitude GPS Latitude.
/// @param longitude GPS Longitude.
///
// void set_initial_location(long latitude, long longitude);
/// Program new offset values.
///
/// @param x Offset to the raw mag_x value.
/// @param y Offset to the raw mag_y value.
/// @param z Offset to the raw mag_z value.
///
// void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
/// Perform automatic offset updates
///
// void null_offsets(void);
/// Enable/Start automatic offset updates
///
void null_offsets_enable(void);
/// Disable/Stop automatic offset updates
///
void null_offsets_disable(void);
/// return true if the compass should be used for yaw calculations
bool use_for_yaw(void) { return healthy && _use_for_yaw; }
/// Sets the local magnetic field declination.
///
/// @param radians Local field declination.
///
// virtual void set_declination(float radians);
float get_declination();
// static const struct AP_Param::GroupInfo var_info[];
protected:
float _declination;
int8_t _learn; ///<enable calibration learning
int8_t _use_for_yaw; ///<enable use for yaw calculation
bool _null_enable; ///< enabled flag for offset nulling
bool _null_init_done; ///< first-time-around flag used by offset nulling
int8_t _auto_declination; ///<enable automatic declination code
enum Rotation _orientation;
Vector3f _offset;
///< used by offset correction
static const uint8_t _mag_history_size = 20;
uint8_t _mag_history_index;
Vector3i _mag_history[_mag_history_size];
};
#endif