Copter: move enabled parameter into compass library

ArduCopter/ArduCopter.cpp

@@ -305,7 +305,7 @@ void Copter::update_batt_compass(void)
     // read battery before compass because it may be used for motor interference compensation
     battery.read();
 
-    if(g.compass_enabled) {
+    if(AP::compass().enabled()) {
         // update compass with throttle value - used for compassmot
         compass.set_throttle(motors->get_throttle());
         compass.set_voltage(battery.voltage());

ArduCopter/Copter.h

@@ -786,7 +786,6 @@ private:
     void read_rangefinder(void);
     bool rangefinder_alt_ok();
     void rpm_update();
-    void init_compass();
     void init_compass_location();
     void init_optflow();
     void update_optical_flow(void);

ArduCopter/GCS_Copter.cpp

@@ -34,7 +34,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
         MAV_SYS_STATUS_SENSOR_ATTITUDE_STABILIZATION |
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
-    if (copter.g.compass_enabled) {
+    if (AP::compass().enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
@@ -129,7 +129,7 @@ void GCS_Copter::update_vehicle_sensor_status_flags(void)
 
     AP_AHRS &ahrs = AP::ahrs();
     const Compass &compass = AP::compass();
-    if (copter.g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
+    if (compass.enabled() && compass.healthy() && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     if (gps.is_healthy()) {

ArduCopter/Parameters.cpp

@@ -185,13 +185,6 @@ const AP_Param::Info Copter::var_info[] = {
     // @User: Advanced
     GSCALAR(gps_hdop_good, "GPS_HDOP_GOOD", GPS_HDOP_GOOD_DEFAULT),
 
-    // @Param: MAG_ENABLE
-    // @DisplayName: Compass enable/disable
-    // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Standard
-    GSCALAR(compass_enabled,        "MAG_ENABLE",   MAGNETOMETER),
-
     // @Param: SUPER_SIMPLE
     // @DisplayName: Super Simple Mode
     // @Description: Bitmask to enable Super Simple mode for some flight modes. Setting this to Disabled(0) will disable Super Simple Mode

ArduCopter/Parameters.h

@@ -227,7 +227,7 @@ public:
         k_param_curr_amp_per_volt,  // deprecated - can be deleted
         k_param_input_voltage,  // deprecated - can be deleted
         k_param_pack_capacity,  // deprecated - can be deleted
-        k_param_compass_enabled,
+        k_param_compass_enabled_deprecated,
         k_param_compass,
         k_param_rangefinder_enabled_old, // deprecated
         k_param_frame_type,
@@ -389,7 +389,6 @@ public:
     AP_Int8         failsafe_gcs;               // ground station failsafe behavior
     AP_Int16        gps_hdop_good;              // GPS Hdop value at or below this value represent a good position
 
-    AP_Int8         compass_enabled;
     AP_Int8         super_simple;
     AP_Int16        rtl_alt_final;
     AP_Int16        rtl_climb_min;              // rtl minimum climb in cm

ArduCopter/compassmot.cpp

@@ -41,7 +41,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
 
     // check compass is enabled
-    if (!g.compass_enabled) {
+    if (!AP::compass().enabled()) {
         gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;

ArduCopter/sensors.cpp

@@ -85,23 +85,6 @@ void Copter::rpm_update(void)
 #endif
 }
 
-// initialise compass
-void Copter::init_compass()
-{
-    if (!g.compass_enabled) {
-        return;
-    }
-
-    compass.init();
-    if (!compass.read()) {
-        // make sure we don't pass a broken compass to DCM
-        hal.console->printf("COMPASS INIT ERROR\n");
-        AP::logger().Write_Error(LogErrorSubsystem::COMPASS, LogErrorCode::FAILED_TO_INITIALISE);
-        return;
-    }
-    ahrs.set_compass(&compass);
-}
-
 /*
   initialise compass's location used for declination
  */

ArduCopter/setup.cpp

@@ -6,7 +6,7 @@ void Copter::report_compass()
     hal.console->printf("Compass\n");
     print_divider();
 
-    print_enabled(g.compass_enabled);
+    print_enabled(AP::compass().enabled());
 
     // mag declination
     hal.console->printf("Mag Dec: %4.4f\n",

ArduCopter/system.cpp

@@ -137,7 +137,7 @@ void Copter::init_ardupilot()
     gps.set_log_gps_bit(MASK_LOG_GPS);
     gps.init(serial_manager);
 
-    init_compass();
+    AP::compass().init();
 
 #if OPTFLOW == ENABLED
     // make optflow available to AHRS