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Rover: updates for new compass API

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This commit is contained in:
Andrew Tridgell 2013-05-02 12:28:01 +10:00
parent 217f34e155
commit 44dd9ddf74
4 changed files with 0 additions and 11 deletions
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6
APMrover2/config.h
View File

@ -83,7 +83,6 @@
# define CONFIG_COMPASS AP_COMPASS_HMC5843 # define CONFIG_COMPASS AP_COMPASS_HMC5843
# define CONFIG_PUSHBUTTON DISABLED # define CONFIG_PUSHBUTTON DISABLED
# define CONFIG_RELAY DISABLED # define CONFIG_RELAY DISABLED
# define MAG_ORIENTATION AP_COMPASS_APM2_SHIELD
# define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN # define CONFIG_SONAR_SOURCE SONAR_SOURCE_ANALOG_PIN
# define A_LED_PIN 27 # define A_LED_PIN 27
# define B_LED_PIN 26 # define B_LED_PIN 26
@ -113,7 +112,6 @@
# define USB_MUX_PIN -1 # define USB_MUX_PIN -1
# define BATTERY_PIN_1 1 # define BATTERY_PIN_1 1
# define CURRENT_PIN_1 2 # define CURRENT_PIN_1 2
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 #elif CONFIG_HAL_BOARD == HAL_BOARD_PX4
# define CONFIG_INS_TYPE CONFIG_INS_PX4 # define CONFIG_INS_TYPE CONFIG_INS_PX4
# define CONFIG_COMPASS AP_COMPASS_PX4 # define CONFIG_COMPASS AP_COMPASS_PX4
@ -131,7 +129,6 @@
# define USB_MUX_PIN -1 # define USB_MUX_PIN -1
# define BATTERY_PIN_1 -1 # define BATTERY_PIN_1 -1
# define CURRENT_PIN_1 -1 # define CURRENT_PIN_1 -1
# define MAG_ORIENTATION ROTATION_NONE
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
@ -271,9 +268,6 @@
#ifndef MAGNETOMETER #ifndef MAGNETOMETER
# define MAGNETOMETER ENABLED # define MAGNETOMETER ENABLED
#endif #endif
#ifndef MAG_ORIENTATION
# define MAG_ORIENTATION AP_COMPASS_COMPONENTS_DOWN_PINS_FORWARD
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// MODE // MODE

1
APMrover2/setup.pde
View File

@ -440,7 +440,6 @@ static int8_t
setup_compass(uint8_t argc, const Menu::arg *argv) setup_compass(uint8_t argc, const Menu::arg *argv)
{ {
if (!strcmp_P(argv[1].str, PSTR("on"))) { if (!strcmp_P(argv[1].str, PSTR("on"))) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init()) { if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!")); cliSerial->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false; g.compass_enabled = false;

1
APMrover2/system.pde
View File

@ -171,7 +171,6 @@ static void init_ardupilot()
#endif #endif
if (g.compass_enabled==true) { if (g.compass_enabled==true) {
compass.set_orientation(MAG_ORIENTATION); // set compass's orientation on aircraft
if (!compass.init()|| !compass.read()) { if (!compass.init()|| !compass.read()) {
cliSerial->println_P(PSTR("Compass initialisation failed!")); cliSerial->println_P(PSTR("Compass initialisation failed!"));
g.compass_enabled = false; g.compass_enabled = false;

3
APMrover2/test.pde
View File

@ -469,7 +469,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
return (0); return (0);
} }
compass.set_orientation(MAG_ORIENTATION);
if (!compass.init()) { if (!compass.init()) {
cliSerial->println_P(PSTR("Compass initialisation failed!")); cliSerial->println_P(PSTR("Compass initialisation failed!"));
return 0; return 0;
@ -488,8 +487,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
int counter = 0; int counter = 0;
float heading = 0; float heading = 0;
//cliSerial->printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
print_hit_enter(); print_hit_enter();
while(1) { while(1) {