Rune Harlyk
55 lines
1.4 KiB
C++
55 lines
1.4 KiB
C++
#pragma once
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#include <list>
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#include <SPI.h>
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#include <Wire.h>
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#include <ArduinoJson.h>
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#include <utils/math_utils.h>
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#include <Adafruit_HMC5883_U.h>
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#include <Adafruit_Sensor.h>
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class Magnetometer {
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public:
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Magnetometer() : _mag(12345) {}
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bool initialize() { return _mag.begin(); }
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bool readMagnetometer() {
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if (!mag_success) return false;
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sensors_event_t event;
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bool updated = _mag.getEvent(&event);
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if (!updated) return false;
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ypr[0] = event.magnetic.x;
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ypr[1] = event.magnetic.y;
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ypr[2] = event.magnetic.z;
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heading = atan2(event.magnetic.y, event.magnetic.x);
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heading += declinationAngle;
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if (heading < 0) heading += 2 * PI;
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if (heading > 2 * PI) heading -= 2 * PI;
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heading *= 180 / M_PI;
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return true;
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}
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float getMagX() { return mag_success ? ypr[0] : 0; }
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float getMagY() { return mag_success ? ypr[1] : 0; }
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float getMagZ() { return mag_success ? ypr[2] : 0; }
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float getHeading() { return heading; }
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void readMagnetometer(JsonObject& root) {
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if (!mag_success) return;
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root["heading"] = round2(getHeading());
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}
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bool active() { return mag_success; }
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private:
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Adafruit_HMC5883_Unified _mag;
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bool mag_success {false};
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float ypr[3];
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float heading {0};
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const float declinationAngle = 0.22;
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}; |