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AP_Declination: Added call to compass.set_initial_location if the compass is enabled when the 3D fix is obtained. 

Signed-off-by: Andrew Tridgell <tridge@samba.org>
This commit is contained in:
Adam M Rivera 2012-03-10 17:20:54 -06:00 committed by Andrew Tridgell
parent 566bbed7ad
commit 2e1cacd67f
2 changed files with 25 additions and 2 deletions
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15
ArduCopter/ArduCopter.pde
View File

@ -35,6 +35,7 @@ Jean-Louis Naudin :Auto Landing
Sandro Benigno :Camera support Sandro Benigno :Camera support
Olivier Adler :PPM Encoder Olivier Adler :PPM Encoder
John Arne Birkeland :PPM Encoder John Arne Birkeland :PPM Encoder
Adam M Rivera :Auto Compass Declination
And much more so PLEASE PM me on DIYDRONES to add your contribution to the List And much more so PLEASE PM me on DIYDRONES to add your contribution to the List
@ -65,6 +66,7 @@ http://code.google.com/p/ardupilot-mega/downloads/list
#include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library #include <AP_ADC.h> // ArduPilot Mega Analog to Digital Converter Library
#include <AP_AnalogSource.h> #include <AP_AnalogSource.h>
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library #include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
@ -238,7 +240,6 @@ static GPS *g_gps_null;
#endif #endif
AP_TimerProcess timer_scheduler; AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS #elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators // sensor emulators
AP_ADC_HIL adc; AP_ADC_HIL adc;
@ -1374,6 +1375,17 @@ static void update_GPS(void)
ground_start_count = 5; ground_start_count = 5;
}else{ }else{
// If we have a compass installed
if(g.compass_enabled)
{
// Set compass declination automatically
if(compass.set_initial_location(g_gps->latitude, g_gps->longitude, AUTOMATIC_DECLINATION == ENABLED))
{
// Report if an update was made
report_compass();
}
}
// save home to eeprom (we must have a good fix to have reached this point) // save home to eeprom (we must have a good fix to have reached this point)
init_home(); init_home();
ground_start_count = 0; ground_start_count = 0;
@ -1391,7 +1403,6 @@ static void update_GPS(void)
//update_altitude(); //update_altitude();
alt_sensor_flag = true; alt_sensor_flag = true;
#endif #endif
} }
} }

12
ArduPlane/ArduPlane.pde
View File

@ -36,6 +36,7 @@ version 2.1 of the License, or (at your option) any later version.
#include <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter #include <AP_AnalogSource.h>// ArduPilot Mega polymorphic analog getter
#include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess #include <AP_PeriodicProcess.h> // ArduPilot Mega TimerProcess
#include <AP_Baro.h> // ArduPilot barometer library #include <AP_Baro.h> // ArduPilot barometer library
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library #include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library #include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library #include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
@ -974,6 +975,17 @@ static void update_GPS(void)
init_home(); init_home();
} }
// If we have a compass installed
if(g.compass_enabled)
{
// Set compass declination automatically
if(compass.set_initial_location(g_gps->latitude, g_gps->longitude, AUTOMATIC_DECLINATION == ENABLED))
{
// Report if an update was made
report_compass();
}
}
ground_start_count = 0; ground_start_count = 0;
} }
} }