Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_Compass: IST8310: use common method to accumulate samples

Browse Source
This commit is contained in:
Lucas De Marchi 2018-09-28 11:09:44 -07:00
parent 8d54276263
commit b05b3b9932
2 changed files with 2 additions and 35 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

34
libraries/AP_Compass/AP_Compass_IST8310.cpp
View File

@ -234,40 +234,10 @@ void AP_Compass_IST8310::timer()
/* Resolution: 0.3 µT/LSB - already convert to milligauss */
Vector3f field = Vector3f{x * 3.0f, y * 3.0f, z * 3.0f};
/* rotate raw_field from sensor frame to body frame */
rotate_field(field, _instance);
/* publish raw_field (uncorrected point sample) for calibration use */
publish_raw_field(field, _instance);
/* correct raw_field for known errors */
correct_field(field, _instance);
if (_sem->take(HAL_SEMAPHORE_BLOCK_FOREVER)) {
_accum += field;
_accum_count++;
_sem->give();
}
accumulate_sample(field, _instance);
}
void AP_Compass_IST8310::read()
{
if (!_sem->take_nonblocking()) {
return;
}
if (_accum_count == 0) {
_sem->give();
return;
}
Vector3f field(_accum);
field /= _accum_count;
publish_filtered_field(field, _instance);
_accum.zero();
_accum_count = 0;
_sem->give();
drain_accumulated_samples(_instance);
}

3
libraries/AP_Compass/AP_Compass_IST8310.h
View File

@ -53,9 +53,6 @@ private:
AP_HAL::Util::perf_counter_t _perf_xfer_err;
AP_HAL::Util::perf_counter_t _perf_bad_data;
Vector3f _accum = Vector3f();
uint32_t _accum_count = 0;
enum Rotation _rotation;
uint8_t _instance;
bool _ignore_next_sample;