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Plane: support 3 magnetometers

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This commit is contained in:
Andrew Tridgell 2014-07-04 12:49:25 +10:00
parent a25eab4ada
commit 5aa58d2ab5
2 changed files with 19 additions and 1 deletions
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17
ArduPlane/Log.pde
View File

@ -458,6 +458,23 @@ static void Log_Write_Compass()
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag3_offsets = compass.get_offsets(2);
const Vector3f &mag3 = compass.get_field(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : hal.scheduler->millis(),
mag_x : (int16_t)mag3.x,
mag_y : (int16_t)mag3.y,
mag_z : (int16_t)mag3.z,
offset_x : (int16_t)mag3_offsets.x,
offset_y : (int16_t)mag3_offsets.y,
offset_z : (int16_t)mag3_offsets.z
};
DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
}
#endif
}
static void Log_Write_GPS(uint8_t instance)

3
ArduPlane/defines.h
View File

@ -126,7 +126,8 @@ enum log_messages {
LOG_SONAR_MSG,
LOG_COMPASS2_MSG,
LOG_ARM_DISARM_MSG,
LOG_AIRSPEED_MSG
LOG_AIRSPEED_MSG,
LOG_COMPASS3_MSG
};
#define MASK_LOG_ATTITUDE_FAST (1<<0)