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AP_Compass: auto-select healthy compass

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This commit is contained in:
Andrew Tridgell 2013-12-09 20:01:42 +11:00
parent 61f564d7c9
commit c44d8b45ce
3 changed files with 14 additions and 3 deletions
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8
libraries/AP_Compass/AP_Compass_PX4.cpp
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@ -144,4 +144,12 @@ void AP_Compass_PX4::accumulate(void)
}
}
uint8_t AP_Compass_PX4::_get_primary(void) const
{
for (uint8_t i=0; i<_num_instances; i++) {
if (_healthy[i]) return i;
}
return 0;
}
#endif // CONFIG_HAL_BOARD

1
libraries/AP_Compass/AP_Compass_PX4.h
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@ -20,6 +20,7 @@ public:
uint8_t get_count(void) const { return _num_instances; }
private:
uint8_t _get_primary(void) const;
uint8_t _num_instances;
int _mag_fd[COMPASS_MAX_INSTANCES];
Vector3f _sum[COMPASS_MAX_INSTANCES];

8
libraries/AP_Compass/Compass.h
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@ -100,11 +100,11 @@ public:
/// Return the current field as a Vector3f
const Vector3f &get_field(uint8_t i) const { return _field[i]; }
const Vector3f &get_field(void) const { return get_field(0); }
const Vector3f &get_field(void) const { return get_field(_get_primary()); }
/// Return the health of a compass
bool healthy(uint8_t i) const { return _healthy[i]; }
bool healthy(void) const { return healthy(0); }
bool healthy(void) const { return healthy(_get_primary()); }
/// set the current field as a Vector3f
void set_field(const Vector3f &field) { _field[0] = field; }
@ -114,7 +114,7 @@ public:
/// @returns The current compass offsets.
///
const Vector3f &get_offsets(uint8_t i) const { return _offset[i]; }
const Vector3f &get_offsets(void) const { return get_offsets(0); }
const Vector3f &get_offsets(void) const { return get_offsets(_get_primary()); }
/// Sets the initial location used to get declination
///
@ -217,6 +217,8 @@ public:
AP_Int8 _learn; ///<enable calibration learning
protected:
virtual uint8_t _get_primary(void) const { return 0; }
bool _healthy[COMPASS_MAX_INSTANCES];
Vector3f _field[COMPASS_MAX_INSTANCES]; ///< magnetic field strength