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AP_Compass: RM3100 make compliant with common methods for accumulating and draining samples

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thomass 2019-02-07 23:19:54 +01:00 committed by Andrew Tridgell
parent ede80773b9
commit 488133c396
1 changed files with 2 additions and 44 deletions
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46
libraries/AP_Compass/AP_Compass_RM3100.cpp
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@ -196,20 +196,7 @@ void AP_Compass_RM3100::timer()
field((int32_t)magx * _scaler, (int32_t)magy * _scaler, (int32_t)magz * _scaler); field((int32_t)magx * _scaler, (int32_t)magy * _scaler, (int32_t)magz * _scaler);
// rotate raw_field from sensor frame to body frame accumulate_sample(field, compass_instance);
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();
}
check_registers: check_registers:
dev->check_next_register(); dev->check_next_register();
@ -217,34 +204,5 @@ check_registers:
void AP_Compass_RM3100::read() void AP_Compass_RM3100::read()
{ {
if (!_sem->take_nonblocking()) { drain_accumulated_samples(compass_instance);
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 %f samples RM3100 \n", total, dt);
lastt = now;
total = 0;
}
#endif
accum /= accum_count;
publish_filtered_field(accum, compass_instance);
accum.zero();
accum_count = 0;
_sem->give();
} }