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AP_Declination: Added method set_initial_location

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This will set the declination based on lat/lon if the user has
not yet saved one to the EEPROM, OR if they have specified via the
config parameter that they want it to overwrite the declination every
3D fix.

Signed-off-by: Andrew Tridgell <tridge@samba.org>
This commit is contained in:
Adam M Rivera 2012-03-10 17:19:04 -06:00 committed by Andrew Tridgell
parent 94d1c48544
commit c390db5d92
2 changed files with 28 additions and 0 deletions
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19
libraries/AP_Compass/Compass.cpp
View File

@ -57,6 +57,25 @@ Compass::get_offsets()
return _offset;
}
bool
Compass::set_initial_location(long latitude, long longitude, bool force)
{
// If the user has choosen to use auto-declination regardless of the planner value
// OR
// If the declination failed to load from the EEPROM (ie. not set by user)
if(force || !_declination.load())
{
// Set the declination based on the lat/lng from GPS
_declination.set(radians(AP_Declination::get_declination((float)latitude / 10000000, (float)longitude / 10000000)));
// Reset null offsets
null_offsets_disable();
null_offsets_enable();
return true;
}
return false;
}
void
Compass::set_declination(float radians)
{

9
libraries/AP_Compass/Compass.h
View File

@ -5,6 +5,7 @@
#include <inttypes.h>
#include "../AP_Common/AP_Common.h"
#include "../AP_Math/AP_Math.h"
#include "../AP_Declination/AP_Declination.h" // ArduPilot Mega Declination Helper Library
// compass product id
#define AP_COMPASS_TYPE_UNKNOWN 0x00
@ -80,6 +81,14 @@ public:
///
virtual Vector3f &get_offsets();
/// Sets the initial location used to get declination - Returns true if declination set
///
/// @param latitude GPS Latitude.
/// @param longitude GPS Longitude.
/// @param force Force the compass declination update.
///
bool set_initial_location(long latitude, long longitude, bool force);
/// Program new offset values.
///
/// @param x Offset to the raw mag_x value.