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AP_Compass: setup HIL/SITL for two compasses

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This commit is contained in:
Andrew Tridgell 2015-05-16 07:06:04 +10:00
parent ab687ab0f5
commit 2475ee9630
2 changed files with 8 additions and 2 deletions
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2
libraries/AP_Compass/AP_Compass_HIL.cpp
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@ -51,7 +51,7 @@ bool
AP_Compass_HIL::init(void) AP_Compass_HIL::init(void)
{ {
// register two compass instances // register two compass instances
for (uint8_t i=0; i<COMPASS_MAX_INSTANCES; i++) { for (uint8_t i=0; i<HIL_NUM_COMPASSES; i++) {
_compass_instance[i] = register_compass(); _compass_instance[i] = register_compass();
} }
return true; return true;

8
libraries/AP_Compass/AP_Compass_HIL.h
View File

@ -4,6 +4,12 @@
#include "Compass.h" #include "Compass.h"
#if COMPASS_MAX_INSTANCES == 1
# define HIL_NUM_COMPASSES 1
#else
# define HIL_NUM_COMPASSES 2
#endif
class AP_Compass_HIL : public AP_Compass_Backend class AP_Compass_HIL : public AP_Compass_Backend
{ {
public: public:
@ -15,7 +21,7 @@ public:
static AP_Compass_Backend *detect(Compass &compass); static AP_Compass_Backend *detect(Compass &compass);
private: private:
uint8_t _compass_instance[COMPASS_MAX_INSTANCES]; uint8_t _compass_instance[HIL_NUM_COMPASSES];
}; };
#endif #endif