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Rover: updates for new compass interface

This commit is contained in:
Andrew Tridgell 2012-06-20 19:31:56 +10:00
parent 33440567e6
commit 2e951647c4
3 changed files with 6 additions and 19 deletions
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13
APMrover2/APMrover2.pde
View File

@ -896,12 +896,6 @@ static void medium_loop()
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
// Calculate heading
#if LITE == DISABLED
Matrix3f m = ahrs.get_dcm_matrix();
compass.calculate(m);
#else
compass.calculate(0,0); // roll = 0, pitch = 0
#endif
compass.null_offsets();
} else {
ahrs.set_compass(NULL);
@ -1113,12 +1107,7 @@ static void update_GPS(void)
ground_course = ahrs.yaw_sensor;
} else {
#endif
long magheading;
magheading = ToDeg(compass.heading) * 100;
if (magheading > 36000) magheading -= 36000;
if (magheading < 0) magheading += 36000;
ground_course = magheading;
ground_course = ToDeg(ahrs.yaw) * 100;
#if LITE == DISABLED
}
#endif

1
APMrover2/system.pde
View File

@ -192,7 +192,6 @@ static void init_ardupilot()
} else {
ahrs.set_compass(&compass);
//compass.get_offsets(); // load offsets to account for airframe magnetic interference
compass.null_offsets_enable();
}
}
#else

11
APMrover2/test.pde
View File

@ -542,9 +542,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
if(g.compass_enabled) {
medium_loopCounter++;
if(medium_loopCounter == 5){
if (compass.read()) {
compass.calculate(ahrs.get_dcm_matrix()); // Calculate heading
}
compass.read();
medium_loopCounter = 0;
}
}
@ -581,7 +579,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
Serial.println_P(PSTR("Compass initialisation failed!"));
return 0;
}
compass.null_offsets_enable();
ahrs.set_compass(&compass);
report_compass();
@ -590,6 +587,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
ahrs.reset();
int counter = 0;
float heading = 0;
//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
print_hit_enter();
@ -610,7 +609,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
if (compass.read()) {
// Calculate heading
Matrix3f m = ahrs.get_dcm_matrix();
compass.calculate(m);
heading = compass.calculate_heading(m);
compass.null_offsets();
}
medium_loopCounter = 0;
@ -621,7 +620,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
if (compass.healthy) {
Vector3f maggy = compass.get_offsets();
Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
(wrap_360(ToDeg(compass.heading) * 100)) /100,
(wrap_360(ToDeg(heading) * 100)) /100,
(int)compass.mag_x,
(int)compass.mag_y,
(int)compass.mag_z,