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Added compass fix from APM

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@2222 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-05-08 18:32:33 +00:00
parent b5f0635455
commit 985db37162
3 changed files with 4 additions and 25 deletions
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3
ArduCopterMega/ArduCopterMega.pde
View File

@ -559,7 +559,8 @@ void medium_loop()
if(g.compass_enabled){ if(g.compass_enabled){
compass.read(); // Read magnetometer compass.read(); // Read magnetometer
compass.calculate(dcm.roll, dcm.pitch); // Calculate heading compass.calculate(dcm.get_dcm_matrix()); // Calculate heading
//compass.calculate(dcm.roll, dcm.pitch); // Calculate heading
compass.null_offsets(dcm.get_dcm_matrix()); compass.null_offsets(dcm.get_dcm_matrix());
} }

4
ArduCopterMega/commands_logic.pde
View File

@ -97,8 +97,8 @@ void handle_process_now()
do_repeat_relay(); do_repeat_relay();
break; break;
//case MAV_CMD_DO_SET_ROI: case MAV_CMD_DO_SET_ROI:
// do_target_yaw(); do_target_yaw();
} }
} }

22
ArduCopterMega/defines.h
View File

@ -301,25 +301,3 @@
#define WP_SIZE 15 #define WP_SIZE 15
#define ONBOARD_PARAM_NAME_LENGTH 15 #define ONBOARD_PARAM_NAME_LENGTH 15
#define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe #define MAX_WAYPOINTS ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
/*
#ifndef MAV_CMD_DO_ROI
# define MAV_CMD_DO_ROI 201
#endif
#ifndef MAV_ROI_NONE
# define MAV_ROI_NONE 0
#endif
#ifndef MAV_ROI_WPNEXT
# define MAV_ROI_WPNEXT 1
#endif
#ifndef MAV_ROI_WPINDEX
# define MAV_ROI_WPINDEX 2
#endif
#ifndef MAV_ROI_LOCATION
# define MAV_ROI_LOCATION 3
#endif
#ifndef MAV_ROI_TARGET
# define MAV_ROI_TARGET 4
#endif
*/