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Compass: save_offsets accepts compass instance

This commit is contained in:
Randy Mackay 2014-07-09 17:07:30 +09:00
parent 2c1fa5f1e8
commit 124bd4b489
2 changed files with 15 additions and 6 deletions
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14
libraries/AP_Compass/Compass.cpp
View File

@ -166,13 +166,19 @@ Compass::set_offsets(const Vector3f &offsets)
} }
void void
Compass::save_offsets() Compass::save_offsets(uint8_t i)
{ {
for (uint8_t k=0; k<COMPASS_MAX_INSTANCES; k++) { _offset[i].save(); // save offsets
_offset[k].save(); // save offsets
#if COMPASS_MAX_INSTANCES > 1 #if COMPASS_MAX_INSTANCES > 1
_dev_id[k].save(); // save device id corresponding to these offsets _dev_id[i].save(); // save device id corresponding to these offsets
#endif #endif
}
void
Compass::save_offsets(void)
{
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
save_offsets(i);
} }
} }

7
libraries/AP_Compass/Compass.h
View File

@ -112,12 +112,15 @@ public:
/// ///
void set_offsets(const Vector3f &offsets); void set_offsets(const Vector3f &offsets);
/// Saves the current compass offset x/y/z values. /// Saves the current offset x/y/z values for one or all compasses
///
/// @param i compass instance
/// ///
/// This should be invoked periodically to save the offset values maintained by /// This should be invoked periodically to save the offset values maintained by
/// ::learn_offsets. /// ::learn_offsets.
/// ///
void save_offsets(); void save_offsets(uint8_t i);
void save_offsets(void);
// return the number of compass instances // return the number of compass instances
virtual uint8_t get_count(void) const { return 1; } virtual uint8_t get_count(void) const { return 1; }