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C++ Compass::get_field方法代码示例

本文整理汇总了C++中Compass::get_field方法的典型用法代码示例。如果您正苦于以下问题：C++ Compass::get_field方法的具体用法？C++ Compass::get_field怎么用？C++ Compass::get_field使用的例子？那么, 这里精选的方法代码示例或许可以为您提供帮助。您也可以进一步了解该方法所在类Compass的用法示例。


在下文中一共展示了Compass::get_field方法的5个代码示例，这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞，您的评价将有助于系统推荐出更棒的C++代码示例。

示例1: send_raw_imu

void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &compass)
{
    const Vector3f &accel = ins.get_accel(0);
    const Vector3f &gyro = ins.get_gyro(0);
    const Vector3f &mag = compass.get_field(0);

    mavlink_msg_raw_imu_send(
        chan,
        hal.scheduler->micros(),
        accel.x * 1000.0f / GRAVITY_MSS,
        accel.y * 1000.0f / GRAVITY_MSS,
        accel.z * 1000.0f / GRAVITY_MSS,
        gyro.x * 1000.0f,
        gyro.y * 1000.0f,
        gyro.z * 1000.0f,
        mag.x,
        mag.y,
        mag.z);
#if INS_MAX_INSTANCES > 1
    if (ins.get_gyro_count() <= 1 &&
        ins.get_accel_count() <= 1 &&
        compass.get_count() <= 1) {
        return;
    }
    const Vector3f &accel2 = ins.get_accel(1);
    const Vector3f &gyro2 = ins.get_gyro(1);
    const Vector3f &mag2 = compass.get_field(1);
    mavlink_msg_scaled_imu2_send(
        chan,
        hal.scheduler->millis(),
        accel2.x * 1000.0f / GRAVITY_MSS,
        accel2.y * 1000.0f / GRAVITY_MSS,
        accel2.z * 1000.0f / GRAVITY_MSS,
        gyro2.x * 1000.0f,
        gyro2.y * 1000.0f,
        gyro2.z * 1000.0f,
        mag2.x,
        mag2.y,
        mag2.z);        
#endif
}
开发者ID:walmis，项目名称:APMLib，代码行数:41，代码来源:GCS_Common.cpp

示例2: loop

static void loop()
{
    static const uint8_t compass_count = compass.get_count();
    static float min[COMPASS_MAX_INSTANCES][3];
    static float max[COMPASS_MAX_INSTANCES][3];
    static float offset[COMPASS_MAX_INSTANCES][3];

    compass.accumulate();

    if ((AP_HAL::micros() - timer) > 100000L) {
        timer = AP_HAL::micros();
        compass.read();
        unsigned long read_time = AP_HAL::micros() - timer;

        for (uint8_t i = 0; i < compass_count; i++) {
            float heading;

            hal.console->printf("Compass #%u: ", i);

            if (!compass.healthy()) {
                hal.console->println("not healthy");
                continue;
            }

            Matrix3f dcm_matrix;
            // use roll = 0, pitch = 0 for this example
            dcm_matrix.from_euler(0, 0, 0);
            heading = compass.calculate_heading(dcm_matrix, i);
            compass.learn_offsets();

            const Vector3f &mag = compass.get_field(i);

            // capture min
            min[i][0] = MIN(mag.x, min[i][0]);
            min[i][1] = MIN(mag.y, min[i][1]);
            min[i][2] = MIN(mag.z, min[i][2]);

            // capture max
            max[i][0] = MAX(mag.x, max[i][0]);
            max[i][1] = MAX(mag.y, max[i][1]);
            max[i][2] = MAX(mag.z, max[i][2]);

            // calculate offsets
            offset[i][0] = -(max[i][0] + min[i][0]) / 2;
            offset[i][1] = -(max[i][1] + min[i][1]) / 2;
            offset[i][2] = -(max[i][2] + min[i][2]) / 2;

            // display all to user
            hal.console->printf("Heading: %.2f (%3d,%3d,%3d)",
                                ToDeg(heading),
                                (int)mag.x,
                                (int)mag.y,
                                (int)mag.z);

            // display offsets
            hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                                offset[i][0], offset[i][1], offset[i][2]);

            hal.console->printf(" t=%u", (unsigned)read_time);

            hal.console->println();
        }
    } else {
        hal.scheduler->delay(1);
    }
}
开发者ID:ArmaJo，项目名称:ardupilot，代码行数:66，代码来源:AP_Compass_test.cpp

示例3: loop

void loop()
{
    static float min[3], max[3], offset[3];

    compass.accumulate();

    if((AP_HAL::micros()- timer) > 100000L)
    {
        timer = AP_HAL::micros();
        compass.read();
        unsigned long read_time = AP_HAL::micros() - timer;
        float heading;

        if (!compass.healthy()) {
            hal.console->println("not healthy");
            return;
        }
	Matrix3f dcm_matrix;
	// use roll = 0, pitch = 0 for this example
	dcm_matrix.from_euler(0, 0, 0);
        heading = compass.calculate_heading(dcm_matrix);
        compass.learn_offsets();

        // capture min
        const Vector3f &mag = compass.get_field();
        if( mag.x < min[0] )
            min[0] = mag.x;
        if( mag.y < min[1] )
            min[1] = mag.y;
        if( mag.z < min[2] )
            min[2] = mag.z;

        // capture max
        if( mag.x > max[0] )
            max[0] = mag.x;
        if( mag.y > max[1] )
            max[1] = mag.y;
        if( mag.z > max[2] )
            max[2] = mag.z;

        // calculate offsets
        offset[0] = -(max[0]+min[0])/2;
        offset[1] = -(max[1]+min[1])/2;
        offset[2] = -(max[2]+min[2])/2;

        // display all to user
        hal.console->printf("Heading: %.2f (%3d,%3d,%3d) i2c error: %u",
			    ToDeg(heading),
			    (int)mag.x,
			    (int)mag.y,
			    (int)mag.z, 
			    (unsigned)hal.i2c->lockup_count());

        // display offsets
        hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                      offset[0], offset[1], offset[2]);

        hal.console->printf(" t=%u", (unsigned)read_time);

        hal.console->println();
    } else {
	    hal.scheduler->delay(1);
    }
}
开发者ID:08shwang，项目名称:ardupilot，代码行数:64，代码来源:AP_Compass_test.cpp

示例4: send_raw_imu

void GCS_MAVLINK::send_raw_imu(const AP_InertialSensor &ins, const Compass &compass)
{
    const Vector3f &accel = ins.get_accel(0);
    const Vector3f &gyro = ins.get_gyro(0);
    Vector3f mag;
    if (compass.get_count() >= 1) {
        mag = compass.get_field(0);
    } else {
        mag.zero();
    }

    mavlink_msg_raw_imu_send(
        chan,
        AP_HAL::micros(),
        accel.x * 1000.0f / GRAVITY_MSS,
        accel.y * 1000.0f / GRAVITY_MSS,
        accel.z * 1000.0f / GRAVITY_MSS,
        gyro.x * 1000.0f,
        gyro.y * 1000.0f,
        gyro.z * 1000.0f,
        mag.x,
        mag.y,
        mag.z);

    if (ins.get_gyro_count() <= 1 &&
            ins.get_accel_count() <= 1 &&
            compass.get_count() <= 1) {
        return;
    }
    const Vector3f &accel2 = ins.get_accel(1);
    const Vector3f &gyro2 = ins.get_gyro(1);
    if (compass.get_count() >= 2) {
        mag = compass.get_field(1);
    } else {
        mag.zero();
    }
    mavlink_msg_scaled_imu2_send(
        chan,
        AP_HAL::millis(),
        accel2.x * 1000.0f / GRAVITY_MSS,
        accel2.y * 1000.0f / GRAVITY_MSS,
        accel2.z * 1000.0f / GRAVITY_MSS,
        gyro2.x * 1000.0f,
        gyro2.y * 1000.0f,
        gyro2.z * 1000.0f,
        mag.x,
        mag.y,
        mag.z);

    if (ins.get_gyro_count() <= 2 &&
            ins.get_accel_count() <= 2 &&
            compass.get_count() <= 2) {
        return;
    }
    const Vector3f &accel3 = ins.get_accel(2);
    const Vector3f &gyro3 = ins.get_gyro(2);
    if (compass.get_count() >= 3) {
        mag = compass.get_field(2);
    } else {
        mag.zero();
    }
    mavlink_msg_scaled_imu3_send(
        chan,
        AP_HAL::millis(),
        accel3.x * 1000.0f / GRAVITY_MSS,
        accel3.y * 1000.0f / GRAVITY_MSS,
        accel3.z * 1000.0f / GRAVITY_MSS,
        gyro3.x * 1000.0f,
        gyro3.y * 1000.0f,
        gyro3.z * 1000.0f,
        mag.x,
        mag.y,
        mag.z);
}
开发者ID:VirtualRobotixItalia，项目名称:ardupilot，代码行数:74，代码来源:GCS_Common.cpp

示例5: loop

// loop
static void loop()
{
    static const uint8_t compass_count = compass.get_count();
    static float min[COMPASS_MAX_INSTANCES][3];
    static float max[COMPASS_MAX_INSTANCES][3];
    static float offset[COMPASS_MAX_INSTANCES][3];

    // run read() at 10Hz
    if ((AP_HAL::micros() - timer) > 100000L) {
        timer = AP_HAL::micros();
        compass.read();
        const uint32_t read_time = AP_HAL::micros() - timer;

        for (uint8_t i = 0; i < compass_count; i++) {
            float heading;

            hal.console->printf("Compass #%u: ", i);

            if (!compass.healthy()) {
                hal.console->printf("not healthy\n");
                continue;
            }

            Matrix3f dcm_matrix;
            // use roll = 0, pitch = 0 for this example
            dcm_matrix.from_euler(0, 0, 0);
            heading = compass.calculate_heading(dcm_matrix, i);

            const Vector3f &mag = compass.get_field(i);

            // capture min
            min[i][0] = MIN(mag.x, min[i][0]);
            min[i][1] = MIN(mag.y, min[i][1]);
            min[i][2] = MIN(mag.z, min[i][2]);

            // capture max
            max[i][0] = MAX(mag.x, max[i][0]);
            max[i][1] = MAX(mag.y, max[i][1]);
            max[i][2] = MAX(mag.z, max[i][2]);

            // calculate offsets
            offset[i][0] = -(max[i][0] + min[i][0]) / 2;
            offset[i][1] = -(max[i][1] + min[i][1]) / 2;
            offset[i][2] = -(max[i][2] + min[i][2]) / 2;

            // display all to user
            hal.console->printf("Heading: %.2f (%3d, %3d, %3d)",
                                (double)ToDeg(heading),
                                (int)mag.x,
                                (int)mag.y,
                                (int)mag.z);

            // display offsets
            hal.console->printf(" offsets(%.2f, %.2f, %.2f)",
                                (double)offset[i][0],
                                (double)offset[i][1],
                                (double)offset[i][2]);

            hal.console->printf(" t=%u", (unsigned)read_time);

            hal.console->printf("\n");
        }
    } else {

        // if stipulated time has not passed between two distinct readings, delay the program for a millisecond
        hal.scheduler->delay(1);
    }
}
开发者ID:ArduPilot，项目名称:ardupilot，代码行数:69，代码来源:AP_Compass_test.cpp


注：本文中的Compass::get_field方法示例由纯净天空整理自Github/MSDocs等开源代码及文档管理平台，相关代码片段筛选自各路编程大神贡献的开源项目，源码版权归原作者所有，传播和使用请参考对应项目的License；未经允许，请勿转载。