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Compass: add dev_id for VRBrain

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This commit is contained in:
Randy Mackay 2014-07-07 21:30:37 +09:00
parent f42c9579d7
commit 070f1c1bbb
1 changed files with 4 additions and 0 deletions
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4
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
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@ -30,6 +30,7 @@
#include <fcntl.h>
#include <unistd.h>
#include <drivers/drv_device.h>
#include <drivers/drv_mag.h>
#include <drivers/drv_hrt.h>
#include <stdio.h>
@ -56,6 +57,9 @@ bool AP_Compass_VRBRAIN::init(void)
}
for (uint8_t i=0; i<_num_instances; i++) {
// get device id
_dev_id[i] = ioctl(_mag_fd[i], DEVIOCGDEVICEID, 0);
// average over up to 20 samples
if (ioctl(_mag_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) {
hal.console->printf("Failed to setup compass queue\n");