From 86fc90f54cf755b86e58d07d4268ba39159e60bf Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sat, 14 Mar 2015 07:57:04 +1100 Subject: [PATCH] AP_Compass: removed spurious rotation in PX4 backend and cleanup rotation macros --- libraries/AP_Compass/AP_Compass_PX4.cpp | 4 ---- libraries/AP_Compass/Compass.h | 20 ++------------------ 2 files changed, 2 insertions(+), 22 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass_PX4.cpp b/libraries/AP_Compass/AP_Compass_PX4.cpp index 1c57946c1d..2d602e4b9d 100644 --- a/libraries/AP_Compass/AP_Compass_PX4.cpp +++ b/libraries/AP_Compass/AP_Compass_PX4.cpp @@ -119,10 +119,6 @@ void AP_Compass_PX4::read(void) _sum[i] /= _count[i]; _sum[i] *= 1000; - // apply default board orientation for this compass type. This is - // a noop on most boards - _sum[i].rotate(MAG_BOARD_ORIENTATION); - publish_field(_sum[i], _instance[i]); _sum[i].zero(); diff --git a/libraries/AP_Compass/Compass.h b/libraries/AP_Compass/Compass.h index cc7ca8bfc6..210f4eb125 100644 --- a/libraries/AP_Compass/Compass.h +++ b/libraries/AP_Compass/Compass.h @@ -24,27 +24,11 @@ #define AP_COMPASS_MOT_COMP_THROTTLE 0x01 #define AP_COMPASS_MOT_COMP_CURRENT 0x02 -// setup default mag orientation for each board type +// setup default mag orientation for some board types #if CONFIG_HAL_BOARD == HAL_BOARD_APM1 # define MAG_BOARD_ORIENTATION ROTATION_ROLL_180 -#elif CONFIG_HAL_BOARD == HAL_BOARD_APM2 -# define MAG_BOARD_ORIENTATION ROTATION_NONE -#elif CONFIG_HAL_BOARD == HAL_BOARD_FLYMAPLE -# define MAG_BOARD_ORIENTATION ROTATION_NONE -#elif CONFIG_HAL_BOARD == HAL_BOARD_PX4 -# define MAG_BOARD_ORIENTATION ROTATION_NONE -#elif CONFIG_HAL_BOARD == HAL_BOARD_AVR_SITL -# define MAG_BOARD_ORIENTATION ROTATION_NONE -#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX - #if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_NAVIO - # define MAG_BOARD_ORIENTATION ROTATION_NONE - #else - # define MAG_BOARD_ORIENTATION ROTATION_NONE - #endif -#elif CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN -# define MAG_BOARD_ORIENTATION ROTATION_NONE #else -# error "You must define a default compass orientation for this board" +# define MAG_BOARD_ORIENTATION ROTATION_NONE #endif /**