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Plane: changes for compass healthy API

This commit is contained in:
Andrew Tridgell 2013-12-09 17:47:38 +11:00
parent d265e54043
commit 49f49648ec
2 changed files with 2 additions and 2 deletions
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2
ArduPlane/GCS_Mavlink.pde
View File

@ -206,7 +206,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
control_sensors_health = control_sensors_present & ~(MAV_SYS_STATUS_SENSOR_3D_MAG |
MAV_SYS_STATUS_SENSOR_GPS |
MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE);
if (g.compass_enabled && compass.healthy && ahrs.use_compass()) {
if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
}
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS) {

2
ArduPlane/test.pde
View File

@ -522,7 +522,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
counter++;
if (counter>20) {
if (compass.healthy) {
if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets();
const Vector3f &mag = compass.get_field();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),