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Compass: don't save the orientation to EEPROM

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there is no point in saving this, the value is only configurable at
compile time for now, and is always set
This commit is contained in:
Andrew Tridgell 2012-03-10 20:03:48 +11:00
parent cc1961b1e8
commit a20f57c59e
3 changed files with 6 additions and 7 deletions
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4
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -264,7 +264,7 @@ bool AP_Compass_HMC5843::read()
// rotate to the desired orientation // rotate to the desired orientation
Vector3f rot_mag = Vector3f(mag_x,mag_y,mag_z); Vector3f rot_mag = Vector3f(mag_x,mag_y,mag_z);
rot_mag.rotate((enum Rotation)_orientation.get()); rot_mag.rotate(_orientation);
if (product_id == AP_COMPASS_TYPE_HMC5883L) { if (product_id == AP_COMPASS_TYPE_HMC5883L) {
rot_mag.rotate(ROTATION_YAW_90); rot_mag.rotate(ROTATION_YAW_90);
} }
@ -282,5 +282,5 @@ bool AP_Compass_HMC5843::read()
void void
AP_Compass_HMC5843::set_orientation(enum Rotation rotation) AP_Compass_HMC5843::set_orientation(enum Rotation rotation)
{ {
_orientation.set_and_save(rotation); _orientation = rotation;
} }

7
libraries/AP_Compass/Compass.cpp
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@ -7,7 +7,6 @@ const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
AP_GROUPINFO("DEC", 2, Compass, _declination), AP_GROUPINFO("DEC", 2, Compass, _declination),
AP_GROUPINFO("LEARN", 3, Compass, _learn), // true if learning calibration AP_GROUPINFO("LEARN", 3, Compass, _learn), // true if learning calibration
AP_GROUPINFO("USE", 4, Compass, _use_for_yaw), // true if used for DCM yaw AP_GROUPINFO("USE", 4, Compass, _use_for_yaw), // true if used for DCM yaw
AP_GROUPINFO("ORIENT", 5, Compass, _orientation),
AP_GROUPEND AP_GROUPEND
}; };
@ -21,9 +20,9 @@ Compass::Compass(void) :
_learn(1), _learn(1),
_use_for_yaw(1), _use_for_yaw(1),
_null_enable(false), _null_enable(false),
_null_init_done(false) _null_init_done(false),
_orientation(ROTATION_NONE)
{ {
_orientation.set(ROTATION_NONE);
} }
// Default init method, just returns success. // Default init method, just returns success.
@ -37,7 +36,7 @@ Compass::init()
void void
Compass::set_orientation(enum Rotation rotation) Compass::set_orientation(enum Rotation rotation)
{ {
_orientation.set_and_save(rotation); _orientation = rotation;
} }
void void

2
libraries/AP_Compass/Compass.h
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@ -119,7 +119,7 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
protected: protected:
AP_Int8 _orientation; enum Rotation _orientation;
AP_Vector3f _offset; AP_Vector3f _offset;
AP_Float _declination; AP_Float _declination;
AP_Int8 _learn; ///<enable calibration learning AP_Int8 _learn; ///<enable calibration learning