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Compass: set_motor_compensation takes instance as first parameter 

Also get_motor_compensation uses primary compass
This commit is contained in:
Randy Mackay 2014-07-22 16:29:43 +09:00
parent af28270669
commit 1f579563e6
2 changed files with 8 additions and 5 deletions
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2
libraries/AP_Compass/Compass.cpp
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@ -197,7 +197,7 @@ Compass::save_offsets(void)
}
void
Compass::set_motor_compensation(const Vector3f &motor_comp_factor, uint8_t i)
Compass::set_motor_compensation(uint8_t i, const Vector3f &motor_comp_factor)
{
_motor_compensation[i].set(motor_comp_factor);
}

11
libraries/AP_Compass/Compass.h
View File

@ -195,7 +195,9 @@ public:
if (_motor_comp_type <= AP_COMPASS_MOT_COMP_CURRENT && _motor_comp_type != (int8_t)comp_type) {
_motor_comp_type = (int8_t)comp_type;
_thr_or_curr = 0; // set current current or throttle to zero
set_motor_compensation(Vector3f(0,0,0)); // clear out invalid compensation vector
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) {
set_motor_compensation(i, Vector3f(0,0,0)); // clear out invalid compensation vectors
}
}
}
@ -206,13 +208,14 @@ public:
/// Set the motor compensation factor x/y/z values.
///
/// @param i instance of compass
/// @param offsets Offsets multiplied by the throttle value and added to the raw mag_ values.
///
void set_motor_compensation(const Vector3f &motor_comp_factor, uint8_t i=0);
void set_motor_compensation(uint8_t i, const Vector3f &motor_comp_factor);
/// get motor compensation factors as a vector
const Vector3f& get_motor_compensation(uint8_t i) const { return _motor_compensation[i]; }
const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(0); }
const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(_get_primary()); }
/// Saves the current motor compensation x/y/z values.
///
@ -225,7 +228,7 @@ public:
/// @returns The current compass offsets.
///
const Vector3f &get_motor_offsets(uint8_t i) const { return _motor_offset[i]; }
const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(0); }
const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(_get_primary()); }
/// Set the throttle as a percentage from 0.0 to 1.0
/// @param thr_pct throttle expressed as a percentage from 0 to 1.0