Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: avoid use of MAV_RESULT if mavlink bindings not used

Browse Source
This commit is contained in:
Peter Barker 2024-08-07 15:15:19 +10:00 committed by Andrew Tridgell
parent 571f18bb69
commit 60c2e4278c
1 changed files with 15 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

22
libraries/AP_Compass/AP_Compass.h
View File

@ -162,9 +162,6 @@ public:
/// Return true if we have set a scale factor for a compass /// Return true if we have set a scale factor for a compass
bool have_scale_factor(uint8_t i) const; bool have_scale_factor(uint8_t i) const;
// compass calibrator interface
void cal_update();
#if COMPASS_MOT_ENABLED #if COMPASS_MOT_ENABLED
// per-motor calibration access // per-motor calibration access
void per_motor_calibration_start(void) { void per_motor_calibration_start(void) {
@ -178,6 +175,10 @@ public:
} }
#endif #endif
#if COMPASS_CAL_ENABLED
// compass calibrator interface
void cal_update();
// start_calibration_all will only return false if there are no // start_calibration_all will only return false if there are no
// compasses to calibrate. // compasses to calibrate.
bool start_calibration_all(bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot = false); bool start_calibration_all(bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot = false);
@ -187,9 +188,7 @@ public:
bool compass_cal_requires_reboot() const { return _cal_requires_reboot; } bool compass_cal_requires_reboot() const { return _cal_requires_reboot; }
bool is_calibrating() const; bool is_calibrating() const;
// indicate which bit in LOG_BITMASK indicates we should log compass readings #if HAL_MAVLINK_BINDINGS_ENABLED
void set_log_bit(uint32_t log_bit) { _log_bit = log_bit; }
/* /*
handle an incoming MAG_CAL command handle an incoming MAG_CAL command
*/ */
@ -197,6 +196,11 @@ public:
bool send_mag_cal_progress(const class GCS_MAVLINK& link); bool send_mag_cal_progress(const class GCS_MAVLINK& link);
bool send_mag_cal_report(const class GCS_MAVLINK& link); bool send_mag_cal_report(const class GCS_MAVLINK& link);
#endif // HAL_MAVLINK_BINDINGS_ENABLED
#endif // COMPASS_CAL_ENABLED
// indicate which bit in LOG_BITMASK indicates we should log compass readings
void set_log_bit(uint32_t log_bit) { _log_bit = log_bit; }
// check if the compasses are pointing in the same direction // check if the compasses are pointing in the same direction
bool consistent() const; bool consistent() const;
@ -391,6 +395,7 @@ private:
void probe_dronecan_compasses(void); void probe_dronecan_compasses(void);
#endif #endif
#if COMPASS_CAL_ENABLED
// compass cal // compass cal
void _update_calibration_trampoline(); void _update_calibration_trampoline();
bool _accept_calibration(uint8_t i); bool _accept_calibration(uint8_t i);
@ -401,8 +406,11 @@ private:
bool _start_calibration(uint8_t i, bool retry=false, float delay_sec=0.0f); bool _start_calibration(uint8_t i, bool retry=false, float delay_sec=0.0f);
bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false); bool _start_calibration_mask(uint8_t mask, bool retry=false, bool autosave=false, float delay_sec=0.0f, bool autoreboot=false);
bool _auto_reboot() const { return _compass_cal_autoreboot; } bool _auto_reboot() const { return _compass_cal_autoreboot; }
#if HAL_MAVLINK_BINDINGS_ENABLED
Priority next_cal_progress_idx[MAVLINK_COMM_NUM_BUFFERS]; Priority next_cal_progress_idx[MAVLINK_COMM_NUM_BUFFERS];
Priority next_cal_report_idx[MAVLINK_COMM_NUM_BUFFERS]; Priority next_cal_report_idx[MAVLINK_COMM_NUM_BUFFERS];
#endif
#endif // COMPASS_CAL_ENABLED
// see if we already have probed a i2c driver by bus number and address // see if we already have probed a i2c driver by bus number and address
bool _have_i2c_driver(uint8_t bus_num, uint8_t address) const; bool _have_i2c_driver(uint8_t bus_num, uint8_t address) const;
@ -419,12 +427,12 @@ private:
//keep track of which calibrators have been saved //keep track of which calibrators have been saved
RestrictIDTypeArray<bool, COMPASS_MAX_INSTANCES, Priority> _cal_saved; RestrictIDTypeArray<bool, COMPASS_MAX_INSTANCES, Priority> _cal_saved;
bool _cal_autosave; bool _cal_autosave;
#endif
//autoreboot after compass calibration //autoreboot after compass calibration
bool _compass_cal_autoreboot; bool _compass_cal_autoreboot;
bool _cal_requires_reboot; bool _cal_requires_reboot;
bool _cal_has_run; bool _cal_has_run;
#endif // COMPASS_CAL_ENABLED
// enum of drivers for COMPASS_DISBLMSK // enum of drivers for COMPASS_DISBLMSK
enum DriverType { enum DriverType {