Tracker: move enabled parameter into compass library

AntennaTracker/GCS_Tracker.cpp

@@ -57,7 +57,7 @@ void GCS_Tracker::update_vehicle_sensor_status_flags()
         MAV_SYS_STATUS_SENSOR_YAW_POSITION;
 
     // first what sensors/controllers we have
-    if (tracker.g.compass_enabled) {
+    if (AP::compass().enabled()) {
         control_sensors_present |= MAV_SYS_STATUS_SENSOR_3D_MAG;
         control_sensors_enabled |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
@@ -70,7 +70,7 @@ void GCS_Tracker::update_vehicle_sensor_status_flags()
     AP_AHRS &ahrs = AP::ahrs();
 
     const Compass &compass = AP::compass();
-    if (tracker.g.compass_enabled && compass.healthy(0) && ahrs.use_compass()) {
+    if (AP::compass().enabled() && compass.healthy(0) && ahrs.use_compass()) {
         control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
     }
     if (gps.is_healthy()) {

AntennaTracker/Parameters.cpp

@@ -39,13 +39,6 @@ const AP_Param::Info Tracker::var_info[] = {
     // @User: Advanced
     GSCALAR(sysid_target,           "SYSID_TARGET",    0),
 
-    // @Param: MAG_ENABLE
-    // @DisplayName: Enable Compass
-    // @Description: Setting this to Enabled(1) will enable the compass. Setting this to Disabled(0) will disable the compass. Note that this is separate from COMPASS_USE. This will enable the low level senor, and will enable logging of magnetometer data. To use the compass for navigation you must also set COMPASS_USE to 1.
-    // @Values: 0:Disabled,1:Enabled
-    // @User: Standard
-    GSCALAR(compass_enabled,        "MAG_ENABLE",     1),
-
     // @Param: YAW_SLEW_TIME
     // @DisplayName: Time for yaw to slew through its full range
     // @Description: This controls how rapidly the tracker will change the servo output for yaw. It is set as the number of seconds to do a full rotation. You can use this parameter to slow the trackers movements, which may help with some types of trackers. A value of zero will allow for unlimited servo movement per update.

AntennaTracker/Parameters.h

@@ -48,7 +48,7 @@ public:
         k_param_serial0_baud,       // deprecated
         k_param_serial1_baud,       // deprecated
         k_param_imu,
-        k_param_compass_enabled,
+        k_param_compass_enabled_deprecated,
         k_param_compass,
         k_param_ahrs,  // AHRS group
         k_param_barometer,
@@ -130,8 +130,6 @@ public:
     AP_Int16 sysid_my_gcs;
     AP_Int16 sysid_target;
 
-    AP_Int8 compass_enabled;
-
     AP_Float yaw_slew_time;
     AP_Float pitch_slew_time;
     AP_Float min_reverse_time;

AntennaTracker/Tracker.h

@@ -243,7 +243,6 @@ private:
 
     // sensors.cpp
     void update_ahrs();
-    void init_compass();
     void compass_save();
     void init_compass_location();
     void update_compass(void);

AntennaTracker/sensors.cpp

@@ -8,22 +8,6 @@ void Tracker::update_ahrs()
     ahrs.update();
 }
 
-// initialise compass
-void Tracker::init_compass()
-{
-    if (!g.compass_enabled) {
-        return;
-    }
-
-    compass.init();
-    if (!compass.read()) {
-        hal.console->printf("Compass initialisation failed!\n");
-        g.compass_enabled = false;
-    } else {
-        ahrs.set_compass(&compass);
-    }
-}
-
 /*
   initialise compass's location used for declination
  */
@@ -44,7 +28,7 @@ void Tracker::init_compass_location(void)
  */
 void Tracker::update_compass(void)
 {
-    if (g.compass_enabled && compass.read()) {
+    if (AP::compass().enabled() && compass.read()) {
         ahrs.set_compass(&compass);
         if (should_log(MASK_LOG_COMPASS)) {
             logger.Write_Compass();
@@ -63,7 +47,7 @@ void Tracker::compass_cal_update() {
 
 // Save compass offsets
 void Tracker::compass_save() {
-    if (g.compass_enabled &&
+    if (AP::compass().enabled() &&
         compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
         !hal.util->get_soft_armed()) {
         compass.save_offsets();
@@ -114,7 +98,7 @@ void Tracker::update_GPS(void)
                     // silently ignored
                 }
 
-                if (g.compass_enabled) {
+                if (AP::compass().enabled()) {
                     // Set compass declination automatically
                     compass.set_initial_location(gps.location().lat, gps.location().lng);
                 }

AntennaTracker/system.cpp

@@ -60,7 +60,7 @@ void Tracker::init_tracker()
 #endif // ENABLE_SCRIPTING
 
     // initialise compass
-    init_compass();
+    AP::compass().init();
 
     // GPS Initialization
     gps.set_log_gps_bit(MASK_LOG_GPS);