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Compass: use constructor to set initial values for _learn and _use_for_yaw

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this ensures they are set if you have MAG_ENABLE==0
This commit is contained in:
Andrew Tridgell 2012-02-25 17:34:33 +11:00
parent 900388a85a
commit d0a6359b37
2 changed files with 2 additions and 13 deletions
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3
libraries/AP_Compass/AP_Compass_HMC5843.cpp
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@ -138,9 +138,6 @@ AP_Compass_HMC5843::init()
uint16_t expected_yz = 715; uint16_t expected_yz = 715;
float gain_multiple = 1.0; float gain_multiple = 1.0;
// call the parent class init for common code
Compass::init();
delay(10); delay(10);
// determine if we are using 5843 or 5883L // determine if we are using 5843 or 5883L

12
libraries/AP_Compass/Compass.cpp
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@ -18,6 +18,8 @@ Compass::Compass(void) :
_declination (0.0), _declination (0.0),
_null_init_done(false), _null_init_done(false),
_null_enable(false), _null_enable(false),
_learn(1),
_use_for_yaw(1),
product_id(AP_COMPASS_TYPE_UNKNOWN) product_id(AP_COMPASS_TYPE_UNKNOWN)
{ {
// Default the orientation matrix to none - will be overridden at group load time // Default the orientation matrix to none - will be overridden at group load time
@ -25,21 +27,11 @@ Compass::Compass(void) :
_orientation_matrix.set(ROTATION_NONE); _orientation_matrix.set(ROTATION_NONE);
} }
//_group
// Default init method, just returns success. // Default init method, just returns success.
// //
bool bool
Compass::init() Compass::init()
{ {
// enable learning by default
if (!_learn.load()) {
_learn.set(1);
}
// enable use for yaw calculation by default
if (!_use_for_yaw.load()) {
_use_for_yaw.set(1);
}
return true; return true;
} }