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Copter: disable compassmot for TradHeli

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This commit is contained in:
Randy Mackay 2015-07-15 15:08:13 +09:00
parent 546d668d1d
commit 1af383253f
1 changed files with 5 additions and 0 deletions
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5
ArduCopter/compassmot.cpp
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@ -9,6 +9,10 @@
// setup_compassmot - sets compass's motor interference parameters // setup_compassmot - sets compass's motor interference parameters
uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan) uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
{ {
#if FRAME_CONFIG == HELI_FRAME
// compassmot not implemented for tradheli
return 1;
#else
int8_t comp_type; // throttle or current based compensation int8_t comp_type; // throttle or current based compensation
Vector3f compass_base[COMPASS_MAX_INSTANCES]; // compass vector when throttle is zero Vector3f compass_base[COMPASS_MAX_INSTANCES]; // compass vector when throttle is zero
Vector3f motor_impact[COMPASS_MAX_INSTANCES]; // impact of motors on compass vector Vector3f motor_impact[COMPASS_MAX_INSTANCES]; // impact of motors on compass vector
@ -265,5 +269,6 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
ap.compass_mot = false; ap.compass_mot = false;
return 0; return 0;
#endif // FRAME_CONFIG != HELI_FRAME
} }