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AP_Compass: removed spurious rotation in PX4 backend

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and cleanup rotation macros
This commit is contained in:
Andrew Tridgell 2015-03-14 07:57:04 +11:00
parent d7bac39539
commit 86fc90f54c
2 changed files with 2 additions and 22 deletions
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4
libraries/AP_Compass/AP_Compass_PX4.cpp
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@ -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();

20
libraries/AP_Compass/Compass.h
View File

@ -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
/**