Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ACM: removed quaternion special cases in CLI code

This commit is contained in:
Andrew Tridgell 2012-03-07 15:12:50 +11:00
parent 8393c0299b
commit 1016d3c95d
1 changed files with 6 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
ArduCopter/test.pde
View File

@ -329,13 +329,10 @@ test_radio(uint8_t argc, const Menu::arg *argv)
if(g.compass_enabled){ if(g.compass_enabled){
medium_loopCounter++; medium_loopCounter++;
if(medium_loopCounter == 5){ if(medium_loopCounter == 5){
Matrix3f m = dcm.get_dcm_matrix();
compass.read(); // Read magnetometer compass.read(); // Read magnetometer
#if QUATERNION_ENABLE == ENABLED compass.calculate(m);
compass.calculate(dcm.roll, dcm.pitch); compass.null_offsets(m);
#else
compass.calculate(dcm.get_dcm_matrix());
compass.null_offsets(dcm.get_dcm_matrix());
#endif
medium_loopCounter = 0; medium_loopCounter = 0;
} }
} }
@ -552,12 +549,9 @@ test_imu(uint8_t argc, const Menu::arg *argv)
if(g.compass_enabled){ if(g.compass_enabled){
compass.read(); // Read magnetometer compass.read(); // Read magnetometer
#if QUATERNION_ENABLE == ENABLED Matrix3f m = dcm.get_dcm_matrix();
compass.calculate(dcm.roll, dcm.pitch); compass.calculate(m);
#else compass.null_offsets(m);
compass.calculate(dcm.get_dcm_matrix());
compass.null_offsets(dcm.get_dcm_matrix());
#endif
} }
} }
fast_loopTimer = millis(); fast_loopTimer = millis();
@ -941,11 +935,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
while(1){ while(1){
delay(100); delay(100);
if (compass.read()) { if (compass.read()) {
#if QUATERNION_ENABLE == ENABLED
compass.calculate(dcm.roll, dcm.pitch);
#else
compass.calculate(dcm.get_dcm_matrix()); compass.calculate(dcm.get_dcm_matrix());
#endif
Vector3f maggy = compass.get_offsets(); Vector3f maggy = compass.get_offsets();
Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"), Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"),
(wrap_360(ToDeg(compass.heading) * 100)) /100, (wrap_360(ToDeg(compass.heading) * 100)) /100,