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AP_Compass_HIL: use new compass backend interface

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Jonathan Challinger 2015-03-18 15:16:52 -07:00 committed by Andrew Tridgell
parent cd5cf45ba8
commit 8800d03fce
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_Compass/AP_Compass_HIL.cpp
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@ -61,7 +61,11 @@ void AP_Compass_HIL::read()
{ {
for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) { for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) {
if (_compass._hil.healthy[i]) { if (_compass._hil.healthy[i]) {
publish_field(_compass._hil.field[_compass_instance[i]], _compass_instance[i]); uint8_t compass_instance = _compass_instance[i];
Vector3f field = _compass._hil.field[compass_instance];
rotate_field(field, compass_instance);
correct_field(field, compass_instance);
publish_filtered_field(field, compass_instance);
} }
} }
} }