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modify the compass code for AP_Param

This commit is contained in:
Andrew Tridgell 2012-02-11 22:53:30 +11:00
parent 2154288e2b
commit 32d997b95f
5 changed files with 19 additions and 14 deletions
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2
libraries/AP_Compass/AP_Compass_HIL.h
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@ -7,7 +7,7 @@
class AP_Compass_HIL : public Compass class AP_Compass_HIL : public Compass
{ {
public: public:
AP_Compass_HIL(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) { product_id = AP_COMPASS_TYPE_HIL; } AP_Compass_HIL() : Compass() { product_id = AP_COMPASS_TYPE_HIL; }
bool read(void); bool read(void);
void setHIL(float Mag_X, float Mag_Y, float Mag_Z); void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
}; };

2
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -75,7 +75,7 @@ bool AP_Compass_HMC5843::write_register(uint8_t address, byte value)
the 5883L has a different orientation to the 5843. This allows us to the 5883L has a different orientation to the 5843. This allows us to
use a single MAG_ORIENTATION for both use a single MAG_ORIENTATION for both
*/ */
static void rotate_for_5883L(AP_VarS<Matrix3f> *_orientation_matrix) static void rotate_for_5883L(AP_Matrix3f *_orientation_matrix)
{ {
_orientation_matrix->set_and_save(_orientation_matrix->get() * Matrix3f(ROTATION_YAW_90)); _orientation_matrix->set_and_save(_orientation_matrix->get() * Matrix3f(ROTATION_YAW_90));
} }

2
libraries/AP_Compass/AP_Compass_HMC5843.h
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@ -56,7 +56,7 @@ class AP_Compass_HMC5843 : public Compass
uint32_t _retry_time; // when unhealthy the millis() value to retry at uint32_t _retry_time; // when unhealthy the millis() value to retry at
public: public:
AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {} AP_Compass_HMC5843() : Compass() {}
virtual bool init(void); virtual bool init(void);
virtual bool read(void); virtual bool read(void);
virtual void set_orientation(const Matrix3f &rotation_matrix); virtual void set_orientation(const Matrix3f &rotation_matrix);

18
libraries/AP_Compass/Compass.cpp
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@ -1,15 +1,19 @@
/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*- /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include "Compass.h" #include "Compass.h"
const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
{ AP_PARAM_MATRIX3F, "", VAROFFSET(Compass, _orientation_matrix) },
{ AP_PARAM_VECTOR3F, "", VAROFFSET(Compass, _offset) },
{ AP_PARAM_VECTOR3F, "DEC", VAROFFSET(Compass, _declination) },
{ AP_PARAM_NONE, "" }
};
// Default constructor. // Default constructor.
// Note that the Vector/Matrix constructors already implicitly zero // Note that the Vector/Matrix constructors already implicitly zero
// their values. // their values.
// //
Compass::Compass(AP_Var::Key key) : Compass::Compass(void) :
_group(key, PSTR("COMPASS_")), _declination (0.0),
_orientation_matrix (&_group, 0),
_offset (&_group, 1),
_declination (&_group, 2, 0.0, PSTR("DEC")),
_null_init_done(false), _null_init_done(false),
_null_enable(false), _null_enable(false),
product_id(AP_COMPASS_TYPE_UNKNOWN) product_id(AP_COMPASS_TYPE_UNKNOWN)
@ -50,7 +54,7 @@ Compass::save_offsets()
Vector3f & Vector3f &
Compass::get_offsets() Compass::get_offsets()
{ {
return _offset.get(); return _offset;
} }
void void
@ -183,4 +187,4 @@ Compass::null_offsets_disable(void)
{ {
_null_init_done = false; _null_init_done = false;
_null_enable = false; _null_enable = false;
} }

9
libraries/AP_Compass/Compass.h
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@ -47,7 +47,7 @@ public:
/// ///
/// @param key Storage key used for configuration data. /// @param key Storage key used for configuration data.
/// ///
Compass(AP_Var::Key key); Compass();
/// Initialize the compass device. /// Initialize the compass device.
/// ///
@ -132,10 +132,11 @@ public:
virtual void set_declination(float radians); virtual void set_declination(float radians);
float get_declination(); float get_declination();
static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_Var_group _group; ///< storage group holding the compass' calibration data AP_Matrix3f _orientation_matrix;
AP_VarS<Matrix3f> _orientation_matrix; AP_Vector3f _offset;
AP_VarS<Vector3f> _offset;
AP_Float _declination; AP_Float _declination;
bool _null_enable; ///< enabled flag for offset nulling bool _null_enable; ///< enabled flag for offset nulling