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AP_DAL: add interface for first usable compass

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Siddharth Purohit 2021-05-20 21:37:51 +05:30 committed by Andrew Tridgell
parent 1d29619e51
commit a52f04ddde
3 changed files with 6 additions and 1 deletions
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1
libraries/AP_DAL/AP_DAL_Compass.cpp
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@ -22,6 +22,7 @@ void AP_DAL_Compass::start_frame()
_RMGH.declination = compass.get_declination(); _RMGH.declination = compass.get_declination();
_RMGH.num_enabled = compass.get_num_enabled(); _RMGH.num_enabled = compass.get_num_enabled();
_RMGH.consistent = compass.consistent(); _RMGH.consistent = compass.consistent();
_RMGH.first_usable = compass.get_first_usable();
WRITE_REPLAY_BLOCK_IFCHANGED(RMGH, _RMGH, old); WRITE_REPLAY_BLOCK_IFCHANGED(RMGH, _RMGH, old);

3
libraries/AP_DAL/AP_DAL_Compass.h
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@ -53,6 +53,9 @@ public:
// check if the compasses are pointing in the same direction // check if the compasses are pointing in the same direction
bool consistent() const { return _RMGH.consistent; } bool consistent() const { return _RMGH.consistent; }
// returns first usable compass
uint8_t get_first_usable() const { return _RMGH.first_usable; }
// AP_DAL methods: // AP_DAL methods:
AP_DAL_Compass(); AP_DAL_Compass();

3
libraries/AP_DAL/LogStructure.h
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@ -244,6 +244,7 @@ struct log_RMGH {
uint8_t num_enabled; uint8_t num_enabled;
bool learn_offsets_enabled; bool learn_offsets_enabled;
bool consistent; bool consistent;
uint8_t first_usable;
uint8_t _end; uint8_t _end;
}; };
@ -400,7 +401,7 @@ struct log_RBOH {
{ LOG_RGPJ_MSG, RLOG_SIZE(RGPJ), \ { LOG_RGPJ_MSG, RLOG_SIZE(RGPJ), \
"RGPJ", "IffffffiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,Lat,Lon,Alt,HA,VA,HD,I", "-------------#", "--------------" }, \ "RGPJ", "IffffffiiiffHB", "TS,VX,VY,VZ,SA,Y,YA,Lat,Lon,Alt,HA,VA,HD,I", "-------------#", "--------------" }, \
{ LOG_RMGH_MSG, RLOG_SIZE(RMGH), \ { LOG_RMGH_MSG, RLOG_SIZE(RMGH), \
"RMGH", "BBfBBB", "Dec,NumInst,AutoDec,NumEna,LOE,C", "------", "------" }, \ "RMGH", "BBfBBBB", "Dec,NumInst,AutoDec,NumEna,LOE,C,FUsable", "-------", "-------" }, \
{ LOG_RMGI_MSG, RLOG_SIZE(RMGI), \ { LOG_RMGI_MSG, RLOG_SIZE(RMGI), \
"RMGI", "IffffffBBBB", "LU,OX,OY,OZ,FX,FY,FZ,UFY,H,HSF,I", "----------#", "-----------" }, \ "RMGI", "IffffffBBBB", "LU,OX,OY,OZ,FX,FY,FZ,UFY,H,HSF,I", "----------#", "-----------" }, \
{ LOG_RBCH_MSG, RLOG_SIZE(RBCH), \ { LOG_RBCH_MSG, RLOG_SIZE(RBCH), \