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Compass: remove virtual functions to save RAM

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Randy Mackay 2013-03-02 00:00:37 +09:00 committed by rmackay9
parent 886725291c
commit bfb29ce22b
3 changed files with 10 additions and 18 deletions
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7
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -348,10 +348,3 @@ bool AP_Compass_HMC5843::read()
return true; return true;
} }
// set orientation
void
AP_Compass_HMC5843::set_orientation(enum Rotation rotation)
{
_orientation = rotation;
}

1
libraries/AP_Compass/AP_Compass_HMC5843.h
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@ -73,7 +73,6 @@ public:
bool init(void); bool init(void);
bool read(void); bool read(void);
void accumulate(void); void accumulate(void);
void set_orientation(enum Rotation rotation);
}; };
#endif #endif

20
libraries/AP_Compass/Compass.h
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@ -51,7 +51,7 @@ public:
/// ///
/// @returns heading in radians /// @returns heading in radians
/// ///
virtual float calculate_heading(float roll, float pitch); float calculate_heading(float roll, float pitch);
/// Calculate the tilt-compensated heading_ variables. /// Calculate the tilt-compensated heading_ variables.
/// ///
@ -59,7 +59,7 @@ public:
/// ///
/// @returns heading in radians /// @returns heading in radians
/// ///
virtual float calculate_heading(const Matrix3f &dcm_matrix); float calculate_heading(const Matrix3f &dcm_matrix);
/// Set the compass orientation matrix, used to correct for /// Set the compass orientation matrix, used to correct for
/// various compass mounting positions. /// various compass mounting positions.
@ -67,26 +67,26 @@ public:
/// @param rotation_matrix Rotation matrix to transform magnetometer readings /// @param rotation_matrix Rotation matrix to transform magnetometer readings
/// to the body frame. /// to the body frame.
/// ///
virtual void set_orientation(enum Rotation rotation); void set_orientation(enum Rotation rotation);
/// Sets the compass offset x/y/z values. /// Sets the compass offset x/y/z values.
/// ///
/// @param offsets Offsets to the raw mag_ values. /// @param offsets Offsets to the raw mag_ values.
/// ///
virtual void set_offsets(const Vector3f &offsets); void set_offsets(const Vector3f &offsets);
/// Saves the current compass offset x/y/z values. /// Saves the current compass offset x/y/z values.
/// ///
/// This should be invoked periodically to save the offset values maintained by /// This should be invoked periodically to save the offset values maintained by
/// ::null_offsets. /// ::null_offsets.
/// ///
virtual void save_offsets(); void save_offsets();
/// Returns the current offset values /// Returns the current offset values
/// ///
/// @returns The current compass offsets. /// @returns The current compass offsets.
/// ///
virtual Vector3f &get_offsets(); Vector3f &get_offsets();
/// Sets the initial location used to get declination /// Sets the initial location used to get declination
/// ///
@ -118,7 +118,7 @@ public:
/// ///
/// @param radians Local field declination. /// @param radians Local field declination.
/// ///
virtual void set_declination(float radians); void set_declination(float radians);
float get_declination(); float get_declination();
// set overall board orientation // set overall board orientation
@ -130,7 +130,7 @@ public:
/// ///
/// @param offsets Offsets multiplied by the throttle value and added to the raw mag_ values. /// @param offsets Offsets multiplied by the throttle value and added to the raw mag_ values.
/// ///
virtual void set_motor_compensation(const Vector3f &motor_comp_factor); void set_motor_compensation(const Vector3f &motor_comp_factor);
/// Set new motor compensation factors as a vector /// Set new motor compensation factors as a vector
/// ///
@ -146,13 +146,13 @@ public:
/// ///
/// This should be invoked periodically to save the offset values calculated by the motor compensation auto learning /// This should be invoked periodically to save the offset values calculated by the motor compensation auto learning
/// ///
virtual void save_motor_compensation(); void save_motor_compensation();
/// Returns the current motor compensation offset values /// Returns the current motor compensation offset values
/// ///
/// @returns The current compass offsets. /// @returns The current compass offsets.
/// ///
virtual Vector3f &get_motor_offsets() { return _motor_offset; } Vector3f &get_motor_offsets() { return _motor_offset; }
/// Set the throttle as a percentage from 0.0 to 1.0 /// Set the throttle as a percentage from 0.0 to 1.0
/// @param thr_pct throttle expressed as a percentage from 0 to 1.0 /// @param thr_pct throttle expressed as a percentage from 0 to 1.0