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AP_Arming: make expected magnetic field strength available to subclasses

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This commit is contained in:
Peter Barker 2016-08-17 18:15:38 +10:00 committed by Randy Mackay
parent 8159c4b747
commit 1f37366c5b
2 changed files with 10 additions and 1 deletions
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6
libraries/AP_Arming/AP_Arming.cpp
View File

@ -21,6 +21,7 @@
// this can also be overridden for specific boards in the HAL // this can also be overridden for specific boards in the HAL
#define AP_ARMING_COMPASS_OFFSETS_MAX 600 #define AP_ARMING_COMPASS_OFFSETS_MAX 600
#endif #endif
#define AP_ARMING_COMPASS_MAGFIELD_EXPECTED 530
#define AP_ARMING_COMPASS_MAGFIELD_MIN 185 // 0.35 * 530 milligauss #define AP_ARMING_COMPASS_MAGFIELD_MIN 185 // 0.35 * 530 milligauss
#define AP_ARMING_COMPASS_MAGFIELD_MAX 875 // 1.65 * 530 milligauss #define AP_ARMING_COMPASS_MAGFIELD_MAX 875 // 1.65 * 530 milligauss
#define AP_ARMING_BOARD_VOLTAGE_MIN 4.3f #define AP_ARMING_BOARD_VOLTAGE_MIN 4.3f
@ -88,6 +89,11 @@ AP_Arming::AP_Arming(const AP_AHRS &ahrs_ref, const AP_Baro &baro, Compass &comp
memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms)); memset(last_gyro_pass_ms, 0, sizeof(last_gyro_pass_ms));
} }
uint16_t AP_Arming::compass_magfield_expected() const
{
return AP_ARMING_COMPASS_MAGFIELD_EXPECTED;
}
bool AP_Arming::is_armed() bool AP_Arming::is_armed()
{ {
return require == NONE || armed; return require == NONE || armed;

5
libraries/AP_Arming/AP_Arming.h
View File

@ -65,6 +65,8 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
uint16_t compass_magfield_expected() const;
protected: protected:
// Parameters // Parameters
AP_Int8 require; AP_Int8 require;
@ -96,7 +98,7 @@ protected:
virtual bool ins_checks(bool report); virtual bool ins_checks(bool report);
bool compass_checks(bool report); virtual bool compass_checks(bool report);
bool gps_checks(bool report); bool gps_checks(bool report);
@ -109,4 +111,5 @@ protected:
bool manual_transmitter_checks(bool report); bool manual_transmitter_checks(bool report);
virtual enum HomeState home_status() const = 0; virtual enum HomeState home_status() const = 0;
}; };