mirror of https://github.com/ArduPilot/ardupilot
AP_Compass: add register to checked ones and remove single-use goto
Also fix comment on TMRC register setting
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@ -122,13 +122,14 @@ bool AP_Compass_RM3100::init()
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ccy1 != CCP1_DEFAULT || ccy0 != CCP0_DEFAULT ||
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ccz1 != CCP1_DEFAULT || ccz0 != CCP0_DEFAULT) {
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// couldn't read one of the cycle count registers or didn't recognize the default cycle count values
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goto fail;
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dev->get_semaphore()->give();
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return false;
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}
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dev->setup_checked_registers(8);
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dev->write_register(RM3100_TMRC_REG, TMRC, true); // cycle count z
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dev->write_register(RM3100_CMM_REG, CMM, false); // CMM configuration
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dev->write_register(RM3100_TMRC_REG, TMRC, true); // CMM data rate
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dev->write_register(RM3100_CMM_REG, CMM, true); // CMM configuration
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dev->write_register(RM3100_CCX1_REG, CCP1, true); // cycle count x
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dev->write_register(RM3100_CCX0_REG, CCP0, true); // cycle count x
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dev->write_register(RM3100_CCY1_REG, CCP1, true); // cycle count y
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@ -146,7 +147,7 @@ bool AP_Compass_RM3100::init()
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/* register the compass instance in the frontend */
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compass_instance = register_compass();
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printf("Found a RM3100 at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
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hal.console->printf("RM3100: Found at address 0x%x as compass %u\n", dev->get_bus_address(), compass_instance);
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set_rotation(compass_instance, rotation);
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@ -162,10 +163,6 @@ bool AP_Compass_RM3100::init()
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FUNCTOR_BIND_MEMBER(&AP_Compass_RM3100::timer, void));
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return true;
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fail:
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dev->get_semaphore()->give();
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return false;
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}
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void AP_Compass_RM3100::timer()
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