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AP_Compass: remove use of Vector3 as function

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Peter Barker 2020-06-04 15:54:29 +10:00 committed by Andrew Tridgell
parent 8c0aed9c6c
commit 0f2bcea647
4 changed files with 19 additions and 9 deletions
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2
libraries/AP_Compass/AP_Compass.cpp
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@ -1677,7 +1677,7 @@ const Vector3f& Compass::getHIL(uint8_t instance) const
void Compass::_setup_earth_field(void) void Compass::_setup_earth_field(void)
{ {
// assume a earth field strength of 400 // assume a earth field strength of 400
_hil.Bearth(400, 0, 0); _hil.Bearth = {400, 0, 0};
// rotate _Bearth for inclination and declination. -66 degrees // rotate _Bearth for inclination and declination. -66 degrees
// is the inclination in Canberra, Australia // is the inclination in Canberra, Australia

9
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
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@ -138,7 +138,6 @@ void AP_Compass_LIS3MDL::timer()
int16_t magz; int16_t magz;
} data; } data;
const float range_scale = 1000.0f / 6842.0f; const float range_scale = 1000.0f / 6842.0f;
Vector3f field;
// check data ready // check data ready
uint8_t status; uint8_t status;
@ -154,9 +153,15 @@ void AP_Compass_LIS3MDL::timer()
goto check_registers; goto check_registers;
} }
field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale); {
Vector3f field{
data.magx * range_scale,
data.magy * range_scale,
data.magz * range_scale,
};
accumulate_sample(field, compass_instance); accumulate_sample(field, compass_instance);
}
check_registers: check_registers:
dev->check_next_register(); dev->check_next_register();

9
libraries/AP_Compass/AP_Compass_RM3100.cpp
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@ -177,7 +177,6 @@ void AP_Compass_RM3100::timer()
uint8_t magz_1; uint8_t magz_1;
uint8_t magz_0; uint8_t magz_0;
} data; } data;
Vector3f field;
int32_t magx = 0; int32_t magx = 0;
int32_t magy = 0; int32_t magy = 0;
@ -209,10 +208,16 @@ void AP_Compass_RM3100::timer()
magy >>= 8; magy >>= 8;
magz >>= 8; magz >>= 8;
{
// apply scaler and store in field vector // apply scaler and store in field vector
field(magx * _scaler, magy * _scaler, magz * _scaler); Vector3f field{
magx * _scaler,
magy * _scaler,
magz * _scaler
};
accumulate_sample(field, compass_instance); accumulate_sample(field, compass_instance);
}
check_registers: check_registers:
dev->check_next_register(); dev->check_next_register();

2
libraries/AP_Compass/AP_Compass_SITL.cpp
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@ -51,7 +51,7 @@ void AP_Compass_SITL::_setup_eliptical_correcion(uint8_t i)
{ {
Vector3f diag = _sitl->mag_diag[i].get(); Vector3f diag = _sitl->mag_diag[i].get();
if (diag.is_zero()) { if (diag.is_zero()) {
diag(1,1,1); diag = {1,1,1};
} }
const Vector3f &diagonals = diag; const Vector3f &diagonals = diag;
const Vector3f &offdiagonals = _sitl->mag_offdiag[i]; const Vector3f &offdiagonals = _sitl->mag_offdiag[i];