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Rover: Update compass to the new interface

This commit is contained in:
Víctor Mayoral Vilches 2014-11-15 18:03:40 -08:00 committed by Andrew Tridgell
parent 79e152cd93
commit 0795783d37
3 changed files with 1 additions and 40 deletions
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14
APMrover2/APMrover2.pde
View File

@ -204,19 +204,7 @@ static AP_Int8 *modes = &g.mode1;
static AP_Baro barometer;
#if CONFIG_COMPASS == HAL_COMPASS_PX4
static AP_Compass_PX4 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
static AP_Compass_VRBRAIN compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
static AP_Compass_HMC5843 compass;
#elif CONFIG_COMPASS == HAL_COMPASS_HIL
static AP_Compass_HIL compass;
#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
static AP_Compass_AK8963_MPU9250 compass;
#else
#error Unrecognized CONFIG_COMPASS setting
#endif
Compass compass;
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
AP_ADC_ADS7844 apm1_adc;

10
APMrover2/config.h
View File

@ -51,9 +51,6 @@
//////////////////////////////////////////////////////////////////////////////
// sensor types
#define CONFIG_BARO HAL_BARO_DEFAULT
#define CONFIG_COMPASS HAL_COMPASS_DEFAULT
//////////////////////////////////////////////////////////////////////////////
// HIL_MODE OPTIONAL
@ -61,13 +58,6 @@
#define HIL_MODE HIL_MODE_DISABLED
#endif
#if HIL_MODE != HIL_MODE_DISABLED // we are in HIL mode
#undef CONFIG_BARO
#define CONFIG_BARO HAL_BARO_HIL
#undef CONFIG_COMPASS
#define CONFIG_COMPASS HAL_COMPASS_HIL
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_APM1
# define BATTERY_PIN_1 0
# define CURRENT_PIN_1 1

17
APMrover2/setup.pde
View File

@ -506,23 +506,6 @@ static void report_compass()
//print_blanks(2);
cliSerial->printf_P(PSTR("Compass: "));
switch (compass.product_id) {
case AP_COMPASS_TYPE_HMC5883L:
cliSerial->println_P(PSTR("HMC5883L"));
break;
case AP_COMPASS_TYPE_HMC5843:
cliSerial->println_P(PSTR("HMC5843"));
break;
case AP_COMPASS_TYPE_HIL:
cliSerial->println_P(PSTR("HIL"));
break;
default:
cliSerial->println_P(PSTR("??"));
break;
}
print_divider();
print_enabled(g.compass_enabled);
// mag declination