Added compass fix from APM

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2222 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -559,7 +559,8 @@ void medium_loop()
 
 			if(g.compass_enabled){
 				compass.read();		 						// Read magnetometer
-				compass.calculate(dcm.roll, dcm.pitch);		// Calculate heading
+				compass.calculate(dcm.get_dcm_matrix());  // Calculate heading
+				//compass.calculate(dcm.roll, dcm.pitch);		// Calculate heading
 				compass.null_offsets(dcm.get_dcm_matrix());
 			}
 

ArduCopterMega/commands_logic.pde

@@ -97,8 +97,8 @@ void handle_process_now()
 			do_repeat_relay();
 			break;
 
-		//case MAV_CMD_DO_SET_ROI:
-		//	do_target_yaw();
+		case MAV_CMD_DO_SET_ROI:
+			do_target_yaw();
 	}
 }
 

ArduCopterMega/defines.h

@@ -301,25 +301,3 @@
 #define WP_SIZE 15
 #define ONBOARD_PARAM_NAME_LENGTH 15
 #define MAX_WAYPOINTS  ((EEPROM_MAX_ADDR - WP_START_BYTE) / WP_SIZE) - 1 // - 1 to be safe
-
-/*
-#ifndef MAV_CMD_DO_ROI
-# define MAV_CMD_DO_ROI 201
-#endif
-#ifndef MAV_ROI_NONE
-# define MAV_ROI_NONE 0
-#endif
-#ifndef MAV_ROI_WPNEXT
-# define MAV_ROI_WPNEXT 1
-#endif
-#ifndef MAV_ROI_WPINDEX
-# define MAV_ROI_WPINDEX 2
-#endif
-#ifndef MAV_ROI_LOCATION
-# define MAV_ROI_LOCATION 3
-#endif
-#ifndef MAV_ROI_TARGET
-# define MAV_ROI_TARGET 4
-#endif
-
-*/