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Compass_PX4: use instance specific orient and external

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Randy Mackay 2014-09-24 22:27:56 +09:00 committed by Andrew Tridgell
parent 023b6afe8b
commit 85e82a0399
2 changed files with 4 additions and 8 deletions
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11
libraries/AP_Compass/AP_Compass_PX4.cpp
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@ -69,8 +69,8 @@ bool AP_Compass_PX4::init(void)
}
// remember if the compass is external
_is_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
if (_is_external[i]) {
_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
if (_external[i]) {
hal.console->printf("Using external compass[%u]\n", (unsigned)i);
}
_count[0] = 0;
@ -108,12 +108,9 @@ bool AP_Compass_PX4::read(void)
// a noop on most boards
_sum[i].rotate(MAG_BOARD_ORIENTATION);
// override any user setting of COMPASS_EXTERNAL
_external.set(_is_external[0]);
if (_is_external[i]) {
if (_external[i]) {
// add user selectable orientation
_sum[i].rotate((enum Rotation)_orientation.get());
_sum[i].rotate((enum Rotation)_orientation[i].get());
} else {
// add in board orientation from AHRS
_sum[i].rotate(_board_orientation);

1
libraries/AP_Compass/AP_Compass_PX4.h
View File

@ -28,7 +28,6 @@ private:
Vector3f _sum[COMPASS_MAX_INSTANCES];
uint32_t _count[COMPASS_MAX_INSTANCES];
uint64_t _last_timestamp[COMPASS_MAX_INSTANCES];
bool _is_external[COMPASS_MAX_INSTANCES];
};
#endif // AP_Compass_PX4_H