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Copter: changes for compass healthy API

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This commit is contained in:
Andrew Tridgell 2013-12-09 17:47:22 +11:00
parent 563e5f71ff
commit d265e54043
4 changed files with 5 additions and 5 deletions
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2
ArduCopter/GCS_Mavlink.pde
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@ -182,7 +182,7 @@ static NOINLINE void send_extended_status1(mavlink_channel_t chan, uint16_t pack
// default to all healthy except compass, gps and receiver which we set individually // default to all healthy except compass, gps and receiver which we set individually
control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS & ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER); control_sensors_health = control_sensors_present & (~MAV_SYS_STATUS_SENSOR_3D_MAG & ~MAV_SYS_STATUS_SENSOR_GPS & ~MAV_SYS_STATUS_SENSOR_RC_RECEIVER);
if (g.compass_enabled && compass.healthy && ahrs.use_compass()) { if (g.compass_enabled && compass.healthy() && ahrs.use_compass()) {
control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG; control_sensors_health |= MAV_SYS_STATUS_SENSOR_3D_MAG;
} }
if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) { if (g_gps != NULL && g_gps->status() > GPS::NO_GPS && !gps_glitch.glitching()) {

2
ArduCopter/motors.pde
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@ -248,7 +248,7 @@ static void pre_arm_checks(bool display_failure)
// check Compass // check Compass
if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) { if ((g.arming_check == ARMING_CHECK_ALL) || (g.arming_check & ARMING_CHECK_COMPASS)) {
// check the compass is healthy // check the compass is healthy
if(!compass.healthy) { if(!compass.healthy()) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy")); gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Compass not healthy"));
} }

4
ArduCopter/setup.pde
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@ -183,7 +183,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
compass.read(); compass.read();
// exit immediately if the compass is not healthy // exit immediately if the compass is not healthy
if( !compass.healthy ) { if( !compass.healthy() ) {
cliSerial->print_P(PSTR("check compass\n")); cliSerial->print_P(PSTR("check compass\n"));
return 0; return 0;
} }
@ -208,7 +208,7 @@ setup_compassmot(uint8_t argc, const Menu::arg *argv)
last_run_time = millis(); last_run_time = millis();
// main run while there is no user input and the compass is healthy // main run while there is no user input and the compass is healthy
while(!cliSerial->available() && compass.healthy) { while(!cliSerial->available() && compass.healthy()) {
// 50hz loop // 50hz loop
if( millis() - last_run_time > 20 ) { if( millis() - last_run_time > 20 ) {

2
ArduCopter/test.pde
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@ -141,7 +141,7 @@ test_compass(uint8_t argc, const Menu::arg *argv)
counter++; counter++;
if (counter>20) { if (counter>20) {
if (compass.healthy) { if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets(); const Vector3f &mag_ofs = compass.get_offsets();
const Vector3f &mag = compass.get_field(); const Vector3f &mag = compass.get_field();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"), cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),