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added magnetometer orientation functionality to APM_Compass which requires small change to ArduCopter.pde to include AP_Math.

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@561 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
rmackay9@yahoo.com 2010-09-26 13:55:47 +00:00
parent 16df19a26d
commit 0f5d01b563
1 changed files with 4 additions and 1 deletions
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Arducopter/Arducopter.pde
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@ -105,6 +105,7 @@
#include <APM_RC.h> #include <APM_RC.h>
#include <DataFlash.h> #include <DataFlash.h>
#include <APM_Compass.h> #include <APM_Compass.h>
#include <AP_Math.h>
#ifdef UseBMP #ifdef UseBMP
#include <APM_BMP085.h> #include <APM_BMP085.h>
#endif #endif
@ -370,8 +371,10 @@ void setup()
if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500; if(pitch_mid < 1400 || pitch_mid > 1600) pitch_mid = 1500;
if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500; if(yaw_mid < 1400 || yaw_mid > 1600) yaw_mid = 1500;
if (MAGNETOMETER == 1) if (MAGNETOMETER == 1) {
APM_Compass.Init(); // I2C initialization APM_Compass.Init(); // I2C initialization
APM_Compass.SetOrientation(APM_COMPASS_COMPONENTS_UP_PINS_BACK);
}
DataFlash.StartWrite(1); // Start a write session on page 1 DataFlash.StartWrite(1); // Start a write session on page 1