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Compass: add last_update_usec per instance

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This commit is contained in:
Randy Mackay 2015-07-16 17:56:12 +09:00
parent 69cfe11455
commit cedc9a8670
3 changed files with 5 additions and 7 deletions
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2
libraries/AP_Compass/AP_Compass_Backend.cpp
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@ -34,7 +34,7 @@ void AP_Compass_Backend::publish_field(const Vector3f &mag, uint8_t instance)
apply_corrections(state.field, instance);
state.last_update_ms = hal.scheduler->millis();
_compass._last_update_usec = hal.scheduler->micros();
state.last_update_usec = hal.scheduler->micros();
}
/*

4
libraries/AP_Compass/Compass.cpp
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@ -275,7 +275,6 @@ const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
// their values.
//
Compass::Compass(void) :
_last_update_usec(0),
_backend_count(0),
_compass_count(0),
_board_orientation(ROTATION_NONE),
@ -286,6 +285,7 @@ Compass::Compass(void) :
AP_Param::setup_object_defaults(this, var_info);
for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
_backends[i] = NULL;
_state[i].last_update_usec = 0;
}
#if COMPASS_MAX_INSTANCES > 1
@ -604,7 +604,7 @@ void Compass::setHIL(uint8_t instance, const Vector3f &mag)
{
_hil.field[instance] = mag;
_hil.healthy[instance] = true;
_last_update_usec = hal.scheduler->micros();
_state[instance].last_update_usec = hal.scheduler->micros();
}
const Vector3f& Compass::getHIL(uint8_t instance) const

6
libraries/AP_Compass/Compass.h
View File

@ -233,7 +233,7 @@ public:
void set_hil_mode(void) { _hil_mode = true; }
// return last update time in microseconds
uint32_t last_update_usec(void) const { return _last_update_usec; }
uint32_t last_update_usec(void) const { return _state[get_primary()].last_update_usec; }
static const struct AP_Param::GroupInfo var_info[];
@ -255,9 +255,6 @@ private:
void _add_backend(AP_Compass_Backend *(detect)(Compass &));
void _detect_backends(void);
//< micros() time of last update
uint32_t _last_update_usec;
// backend objects
AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];
uint8_t _backend_count;
@ -321,6 +318,7 @@ private:
// when we last got data
uint32_t last_update_ms;
uint32_t last_update_usec;
} _state[COMPASS_MAX_INSTANCES];
// if we want HIL only