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AP_Compass: add more comments to example

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Sagnik Bhattacharya 2018-05-22 22:54:54 +05:30 committed by Peter Barker
parent 1af6178be8
commit 4c809888de
1 changed files with 22 additions and 0 deletions
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22
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
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@ -1,3 +1,18 @@
/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/* /*
* Example of APM_Compass library (HMC5843 sensor). * Example of APM_Compass library (HMC5843 sensor).
* Code by Jordi MuÒoz and Jose Julio. DIYDrones.com * Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
@ -10,10 +25,13 @@
const AP_HAL::HAL& hal = AP_HAL::get_HAL(); const AP_HAL::HAL& hal = AP_HAL::get_HAL();
static AP_BoardConfig board_config; static AP_BoardConfig board_config;
// create compass object
static Compass compass; static Compass compass;
uint32_t timer; uint32_t timer;
// to be called only once on boot for initializing objects
static void setup() static void setup()
{ {
hal.console->printf("Compass library test\n"); hal.console->printf("Compass library test\n");
@ -32,6 +50,7 @@ static void setup()
timer = AP_HAL::micros(); timer = AP_HAL::micros();
} }
// loop
static void loop() static void loop()
{ {
static const uint8_t compass_count = compass.get_count(); static const uint8_t compass_count = compass.get_count();
@ -39,6 +58,7 @@ static void loop()
static float max[COMPASS_MAX_INSTANCES][3]; static float max[COMPASS_MAX_INSTANCES][3];
static float offset[COMPASS_MAX_INSTANCES][3]; static float offset[COMPASS_MAX_INSTANCES][3];
// run read() at 10Hz
if ((AP_HAL::micros() - timer) > 100000L) { if ((AP_HAL::micros() - timer) > 100000L) {
timer = AP_HAL::micros(); timer = AP_HAL::micros();
compass.read(); compass.read();
@ -94,6 +114,8 @@ static void loop()
hal.console->printf("\n"); hal.console->printf("\n");
} }
} else { } else {
// if stipulated time has not passed between two distinct readings, delay the program for a millisecond
hal.scheduler->delay(1); hal.scheduler->delay(1);
} }
} }