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AP_Compass: LIS3MDL: use common method to accumulate samples

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This commit is contained in:
Lucas De Marchi 2018-09-28 11:10:01 -07:00
parent b05b3b9932
commit 38d1f8705f
2 changed files with 2 additions and 46 deletions
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46
libraries/AP_Compass/AP_Compass_LIS3MDL.cpp
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@ -157,20 +157,7 @@ void AP_Compass_LIS3MDL::timer()
field(data.magx * range_scale, data.magy * range_scale, data.magz * range_scale);
/* rotate raw_field from sensor frame to body frame */
rotate_field(field, compass_instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, compass_instance);
/* correct raw_field for known errors */
correct_field(field, compass_instance);
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
accum += field;
accum_count++;
_sem->give();
}
accumulate_sample(field, compass_instance);
check_registers:
dev->check_next_register();
@ -178,34 +165,5 @@ check_registers:
void AP_Compass_LIS3MDL::read()
{
if (!_sem->take_nonblocking()) {
return;
}
if (accum_count == 0) {
_sem->give();
return;
}
#if 0
// debugging code for sample rate
static uint32_t lastt;
static uint32_t total;
total += accum_count;
uint32_t now = AP_HAL::micros();
float dt = (now - lastt) * 1.0e-6;
if (dt > 1) {
printf("%u samples\n", total);
lastt = now;
total = 0;
}
#endif
accum /= accum_count;
publish_filtered_field(accum, compass_instance);
accum.zero();
accum_count = 0;
_sem->give();
drain_accumulated_samples(compass_instance);
}

2
libraries/AP_Compass/AP_Compass_LIS3MDL.h
View File

@ -55,8 +55,6 @@ private:
void timer();
uint8_t compass_instance;
Vector3f accum;
uint16_t accum_count;
bool force_external;
enum Rotation rotation;
};