PX4Magnetometer.hpp

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#pragma once

#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <lib/cdev/CDev.hpp>
#include <lib/conversion/rotation.h>
#include <uORB/uORB.h>
#include <uORB/PublicationMulti.hpp>
#include <uORB/topics/sensor_mag.h>

class PX4Magnetometer : public cdev::CDev
{

public:
    PX4Magnetometer(uint32_t device_id, uint8_t priority, enum Rotation rotation);
    ~PX4Magnetometer() override;

    int ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;

    void set_device_type(uint8_t devtype);
    void set_error_count(uint64_t error_count) { _sensor_mag_pub.get().error_count = error_count; }
    void set_scale(float scale) { _sensor_mag_pub.get().scaling = scale; }
    void set_temperature(float temperature) { _sensor_mag_pub.get().temperature = temperature; }
    void set_external(bool external) { _sensor_mag_pub.get().is_external = external; }
    void set_sensitivity(float x, float y, float z) { _sensitivity = matrix::Vector3f{x, y, z}; }

    void update(hrt_abstime timestamp, int16_t x, int16_t y, int16_t z);

    void print_status();

private:

    uORB::PublicationMultiData<sensor_mag_s>    _sensor_mag_pub;

    const enum Rotation _rotation;

    matrix::Vector3f    _calibration_scale{1.0f, 1.0f, 1.0f};
    matrix::Vector3f    _calibration_offset{0.0f, 0.0f, 0.0f};

    matrix::Vector3f    _sensitivity{1.0f, 1.0f, 1.0f};

    int         _class_device_instance{-1};

};