text: /****************************************************************************
   *
   *   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.
   *
   ****************************************************************************/
  
  
  #include <mathlib/math/filter/LowPassFilter2p.hpp>
  
  #include <drivers/device/integrator.h>
  #include <drivers/drv_mag.h>
  #include <drivers/drv_hrt.h>
  #include <lib/drivers/device/Device.hpp>
  #include <lib/cdev/CDev.hpp>
  #include <lib/conversion/rotation.h>
  #include <uORB/topics/sensor_mag.h>
  #include <uORB/uORB.h>
  
  class PX4Magnetometer : public cdev::CDev
  {
  
  public:
  	PX4Magnetometer(const char *name, device::Device  *interface, uint8_t dev_type, enum Rotation rotation, float scale);
  	~PX4Magnetometer() override;
  
  	int	init() override;
  	int	ioctl(cdev::file_t *filp, int cmd, unsigned long arg) override;
  
  	int publish(float x, float y, float z, float temperature);
  
  	void configure_filter(float sample_freq, float cutoff_freq);
  
  private:
  	// Pointer to the communication interface
  	const device::Device *_interface{nullptr};
  
  	mag_calibration_s _cal{};
  
  	orb_advert_t _topic{nullptr};
  
  	device::Device::DeviceId _device_id{};
  
  	int	_orb_class_instance{-1};
  
  	int _class_device_instance{-1};
  
  	enum Rotation _rotation {ROTATION_NONE};
  
  	float _scale{1.0f};
  
  	math::LowPassFilter2p _filter_x{100, 20};
  	math::LowPassFilter2p _filter_y{100, 20};
  	math::LowPassFilter2p _filter_z{100, 20};
  };
  