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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
Olivier Adler :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
@ -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_AnalogSource.h>
#include <AP_Baro.h>
#include <AP_Declination.h> // ArduPilot Mega Declination Helper Library
#include <AP_Compass.h> // ArduPilot Mega Magnetometer Library
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // ArduPilot Mega Inertial Sensor (accel & gyro) Library
@ -238,7 +240,6 @@ static GPS *g_gps_null;
#endif
AP_TimerProcess timer_scheduler;
#elif HIL_MODE == HIL_MODE_SENSORS
// sensor emulators
AP_ADC_HIL adc;
@ -1374,6 +1375,17 @@ static void update_GPS(void)
ground_start_count = 5;
}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)
init_home();
ground_start_count = 0;
@ -1391,7 +1403,6 @@ static void update_GPS(void)
//update_altitude();
alt_sensor_flag = true;
#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_PeriodicProcess.h> // ArduPilot Mega TimerProcess
#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_Math.h> // ArduPilot Mega Vector/Matrix math Library
#include <AP_InertialSensor.h> // Inertial Sensor (uncalibated IMU) Library
@ -974,6 +975,17 @@ static void update_GPS(void)
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;
}
}