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AP_Compass: remove raspilot

This commit is contained in:
Lucas De Marchi 2017-09-07 22:42:14 -07:00
parent 7ba82ff23a
commit b1740e2d9c
3 changed files with 1 additions and 16 deletions
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5
libraries/AP_Compass/AP_Compass.cpp
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@ -687,11 +687,6 @@ void Compass::_detect_backends(void)
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QURT
ADD_BACKEND(DRIVER_QFLIGHT, AP_Compass_QURT::detect(*this), nullptr, false); ADD_BACKEND(DRIVER_QFLIGHT, AP_Compass_QURT::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_RASPILOT
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR), true),
AP_Compass_HMC5843::name, true);
ADD_BACKEND(DRIVER_LSM303D, AP_Compass_LSM303D::probe(*this, hal.spi->get_device("lsm9ds0_am")),
AP_Compass_LSM303D::name, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH #elif HAL_COMPASS_DEFAULT == HAL_COMPASS_BH
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)), ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),
AP_Compass_HMC5843::name, false); AP_Compass_HMC5843::name, false);

4
libraries/AP_Compass/AP_Compass.h
View File

@ -18,9 +18,7 @@
#define AP_COMPASS_MOT_COMP_CURRENT 0x02 #define AP_COMPASS_MOT_COMP_CURRENT 0x02
// setup default mag orientation for some board types // setup default mag orientation for some board types
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
# define MAG_BOARD_ORIENTATION ROTATION_ROLL_180
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_BEBOP
# define MAG_BOARD_ORIENTATION ROTATION_YAW_90 # define MAG_BOARD_ORIENTATION ROTATION_YAW_90
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \ #elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && (CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_ERLEBRAIN2 || \
CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI) CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_PXFMINI)

8
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -23,9 +23,6 @@ extern const AP_HAL::HAL &hal;
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX
#include <AP_HAL_Linux/GPIO.h> #include <AP_HAL_Linux/GPIO.h>
#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
#define LSM303D_DRDY_M_PIN RPI_GPIO_27
#endif
#endif #endif
#ifndef LSM303D_DRDY_M_PIN #ifndef LSM303D_DRDY_M_PIN
@ -278,11 +275,6 @@ bool AP_Compass_LSM303D::init(enum Rotation rotation)
_dev->set_device_type(DEVTYPE_LSM303D); _dev->set_device_type(DEVTYPE_LSM303D);
set_dev_id(_compass_instance, _dev->get_bus_id()); set_dev_id(_compass_instance, _dev->get_bus_id());
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_RASPILOT
// FIXME: wrong way to force internal compass
set_external(_compass_instance, false);
#endif
// read at 100Hz // read at 100Hz
_dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM303D::_update, void)); _dev->register_periodic_callback(10000, FUNCTOR_BIND_MEMBER(&AP_Compass_LSM303D::_update, void));