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AP_Compass: add expected DEV_ID parameters

This commit is contained in:
Jonathan Challinger 2018-07-10 11:28:32 -07:00 committed by Andrew Tridgell
parent 878e84a015
commit cefd998177
2 changed files with 24 additions and 0 deletions
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23
libraries/AP_Compass/AP_Compass.cpp
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@ -453,6 +453,24 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: When enabled this will automatically check the orientation of compasses on successful completion of compass calibration. If set to 2 then external compasses will have their orientation automatically corrected.
// @Values: 0:Disabled,1:CheckOnly,2:CheckAndFix
AP_GROUPINFO("AUTO_ROT", 35, Compass, _rotate_auto, HAL_COMPASS_AUTO_ROT_DEFAULT),
// @Param: EXP_DID
// @DisplayName: Compass device id expected
// @Description: The expected value of COMPASS_DEV_ID, used by arming checks. Setting this to -1 means "don't care."
// @User: Advanced
AP_GROUPINFO("EXP_DID", 36, Compass, _state[0].expected_dev_id, -1),
// @Param: EXP_DID2
// @DisplayName: Compass2 device id expected
// @Description: The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means "don't care."
// @User: Advanced
AP_GROUPINFO("EXP_DID2", 37, Compass, _state[1].expected_dev_id, -1),
// @Param: EXP_DID3
// @DisplayName: Compass3 device id expected
// @Description: The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means "don't care."
// @User: Advanced
AP_GROUPINFO("EXP_DID3", 38, Compass, _state[2].expected_dev_id, -1),
AP_GROUPEND
};
@ -1234,6 +1252,11 @@ bool Compass::configured(uint8_t i)
return false;
}
// if expected_dev_id is configured and the detected dev_id is different, return false
if (_state[i].expected_dev_id != -1 && _state[i].expected_dev_id != _state[i].dev_id) {
return false;
}
// if we got here then it must be configured
return true;
}

1
libraries/AP_Compass/AP_Compass.h
View File

@ -431,6 +431,7 @@ private:
// saved to eeprom when offsets are saved allowing ram &
// eeprom values to be compared as consistency check
AP_Int32 dev_id;
AP_Int32 expected_dev_id;
int32_t detected_dev_id;
AP_Int8 use_for_yaw;