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AP_Compass: fixed compass for tailsitters in SITL

This commit is contained in:
Andrew Tridgell 2018-07-19 17:24:21 +10:00
parent f06637d48e
commit cbd6f4cc21
3 changed files with 10 additions and 0 deletions
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5
libraries/AP_Compass/AP_Compass_Backend.cpp
View File

@ -202,3 +202,8 @@ bool AP_Compass_Backend::field_ok(const Vector3f &field)
return ret;
}
enum Rotation AP_Compass_Backend::get_board_orientation(void) const
{
return _compass._board_orientation;
}

3
libraries/AP_Compass/AP_Compass_Backend.h
View File

@ -106,6 +106,9 @@ protected:
// set rotation of an instance
void set_rotation(uint8_t instance, enum Rotation rotation);
// get board orientation (for SITL)
enum Rotation get_board_orientation(void) const;
// access to frontend
Compass &_compass;

2
libraries/AP_Compass/AP_Compass_SITL.cpp
View File

@ -114,7 +114,9 @@ void AP_Compass_SITL::_timer()
if (i == 0) {
// rotate the first compass, allowing for testing of external compass rotation
f.rotate_inverse((enum Rotation)_sitl->mag_orient.get());
f.rotate(get_board_orientation());
}
rotate_field(f, _compass_instance[i]);
publish_raw_field(f, _compass_instance[i]);
correct_field(f, _compass_instance[i]);