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Compass: get_primary method made public

This commit is contained in:
Randy Mackay 2014-07-22 16:30:33 +09:00
parent 1f579563e6
commit d291594d7c
1 changed files with 11 additions and 6 deletions
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17
libraries/AP_Compass/Compass.h
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@ -128,11 +128,11 @@ public:
/// Return the current field as a Vector3f /// Return the current field as a Vector3f
const Vector3f &get_field(uint8_t i) const { return _field[i]; } const Vector3f &get_field(uint8_t i) const { return _field[i]; }
const Vector3f &get_field(void) const { return get_field(_get_primary()); } const Vector3f &get_field(void) const { return get_field(get_primary()); }
/// Return the health of a compass /// Return the health of a compass
bool healthy(uint8_t i) const { return _healthy[i]; } bool healthy(uint8_t i) const { return _healthy[i]; }
bool healthy(void) const { return healthy(_get_primary()); } bool healthy(void) const { return healthy(get_primary()); }
/// set the current field as a Vector3f /// set the current field as a Vector3f
void set_field(const Vector3f &field) { _field[0] = field; } void set_field(const Vector3f &field) { _field[0] = field; }
@ -142,7 +142,7 @@ public:
/// @returns The current compass offsets. /// @returns The current compass offsets.
/// ///
const Vector3f &get_offsets(uint8_t i) const { return _offset[i]; } const Vector3f &get_offsets(uint8_t i) const { return _offset[i]; }
const Vector3f &get_offsets(void) const { return get_offsets(_get_primary()); } const Vector3f &get_offsets(void) const { return get_offsets(get_primary()); }
/// Sets the initial location used to get declination /// Sets the initial location used to get declination
/// ///
@ -215,7 +215,7 @@ public:
/// get motor compensation factors as a vector /// get motor compensation factors as a vector
const Vector3f& get_motor_compensation(uint8_t i) const { return _motor_compensation[i]; } const Vector3f& get_motor_compensation(uint8_t i) const { return _motor_compensation[i]; }
const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(_get_primary()); } const Vector3f& get_motor_compensation(void) const { return get_motor_compensation(get_primary()); }
/// Saves the current motor compensation x/y/z values. /// Saves the current motor compensation x/y/z values.
/// ///
@ -228,7 +228,7 @@ public:
/// @returns The current compass offsets. /// @returns The current compass offsets.
/// ///
const Vector3f &get_motor_offsets(uint8_t i) const { return _motor_offset[i]; } const Vector3f &get_motor_offsets(uint8_t i) const { return _motor_offset[i]; }
const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(_get_primary()); } const Vector3f &get_motor_offsets(void) const { return get_motor_offsets(get_primary()); }
/// Set the throttle as a percentage from 0.0 to 1.0 /// Set the throttle as a percentage from 0.0 to 1.0
/// @param thr_pct throttle expressed as a percentage from 0 to 1.0 /// @param thr_pct throttle expressed as a percentage from 0 to 1.0
@ -253,13 +253,18 @@ public:
bool configured(uint8_t i); bool configured(uint8_t i);
bool configured(void); bool configured(void);
/// Returns the instance of the primary compass
///
/// @returns the instance number of the primary compass
///
virtual uint8_t get_primary(void) const { return 0; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// settable parameters // settable parameters
AP_Int8 _learn; ///<enable calibration learning AP_Int8 _learn; ///<enable calibration learning
protected: protected:
virtual uint8_t _get_primary(void) const { return 0; }
bool _healthy[COMPASS_MAX_INSTANCES]; bool _healthy[COMPASS_MAX_INSTANCES];
Vector3f _field[COMPASS_MAX_INSTANCES]; ///< magnetic field strength Vector3f _field[COMPASS_MAX_INSTANCES]; ///< magnetic field strength