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AP_Compass: AK8963: remove resolution member

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We only use the highest one and there's no intention to support the
14bits one. Just use the define rather than saving it as a member.
This commit is contained in:
Lucas De Marchi 2015-07-21 11:30:01 -03:00 committed by Andrew Tridgell
parent 86b3312112
commit 28d3d775a4
2 changed files with 2 additions and 4 deletions
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5
libraries/AP_Compass/AP_Compass_AK8963.cpp
View File

@ -120,7 +120,6 @@ AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus)
{
_mag_x_accum =_mag_y_accum = _mag_z_accum = 0;
_accum_count = 0;
_magnetometer_adc_resolution = AK8963_16BIT_ADC;
}
AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass)
@ -294,7 +293,7 @@ bool AP_Compass_AK8963::_check_id()
}
bool AP_Compass_AK8963::_configure() {
_bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | _magnetometer_adc_resolution);
_bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC);
return true;
}
@ -310,7 +309,7 @@ bool AP_Compass_AK8963::_calibrate()
uint8_t cntl1 = _bus->register_read(AK8963_CNTL1);
/* Enable FUSE-mode in order to be able to read calibration data */
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | _magnetometer_adc_resolution);
_bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC);
uint8_t response[3];
_bus->register_read(AK8963_ASAX, response, 3);

1
libraries/AP_Compass/AP_Compass_AK8963.h
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@ -77,7 +77,6 @@ private:
uint32_t _accum_count;
bool _initialized;
uint8_t _magnetometer_adc_resolution;
uint32_t _last_update_timestamp;
uint32_t _last_accum_time;