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moved Mag offsets to "test","stabilize"

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@1754 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-03-07 19:06:29 +00:00
parent af71b3a764
commit d94ce4bb92
2 changed files with 9 additions and 3 deletions
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7
ArduCopterMega/setup.pde
View File

@ -12,7 +12,7 @@ static int8_t setup_frame (uint8_t argc, const Menu::arg *argv);
static int8_t setup_current (uint8_t argc, const Menu::arg *argv); static int8_t setup_current (uint8_t argc, const Menu::arg *argv);
static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv); static int8_t setup_sonar (uint8_t argc, const Menu::arg *argv);
static int8_t setup_compass (uint8_t argc, const Menu::arg *argv); static int8_t setup_compass (uint8_t argc, const Menu::arg *argv);
static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv); //static int8_t setup_mag_offset (uint8_t argc, const Menu::arg *argv);
static int8_t setup_declination (uint8_t argc, const Menu::arg *argv); static int8_t setup_declination (uint8_t argc, const Menu::arg *argv);
static int8_t setup_show (uint8_t argc, const Menu::arg *argv); static int8_t setup_show (uint8_t argc, const Menu::arg *argv);
@ -31,7 +31,7 @@ const struct Menu::command setup_menu_commands[] PROGMEM = {
{"current", setup_current}, {"current", setup_current},
{"sonar", setup_sonar}, {"sonar", setup_sonar},
{"compass", setup_compass}, {"compass", setup_compass},
{"mag_offset", setup_mag_offset}, // {"mag_offset", setup_mag_offset},
{"declination", setup_declination}, {"declination", setup_declination},
{"show", setup_show} {"show", setup_show}
}; };
@ -498,7 +498,7 @@ setup_sonar(uint8_t argc, const Menu::arg *argv)
return 0; return 0;
} }
static int8_t /*static int8_t
setup_mag_offset(uint8_t argc, const Menu::arg *argv) setup_mag_offset(uint8_t argc, const Menu::arg *argv)
{ {
Serial.printf_P(PSTR("\nRotate/Pitch/Roll your ArduCopter until the offset variables stop changing.\n")); Serial.printf_P(PSTR("\nRotate/Pitch/Roll your ArduCopter until the offset variables stop changing.\n"));
@ -574,6 +574,7 @@ setup_mag_offset(uint8_t argc, const Menu::arg *argv)
} }
} }
} }
*/
/***************************************************************************/ /***************************************************************************/

5
ArduCopterMega/test.pde
View File

@ -256,6 +256,7 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
if(medium_loopCounter == 5){ if(medium_loopCounter == 5){
compass.read(); // Read magnetometer compass.read(); // Read magnetometer
compass.calculate(dcm.roll, dcm.pitch); // Calculate heading compass.calculate(dcm.roll, dcm.pitch); // Calculate heading
compass.null_offsets(dcm.get_dcm_matrix());
medium_loopCounter = 0; medium_loopCounter = 0;
} }
} }
@ -300,6 +301,10 @@ test_stabilize(uint8_t argc, const Menu::arg *argv)
//Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100)); //Serial.printf_P(PSTR("timer: %d, r: %d\tp: %d\t y: %d\n"), (int)delta_ms_fast_loop, ((int)dcm.roll_sensor/100), ((int)dcm.pitch_sensor/100), ((uint16_t)dcm.yaw_sensor/100));
if(Serial.available() > 0){ if(Serial.available() > 0){
if(g.compass_enabled){
compass.save_offsets();
}
report_compass();
return (0); return (0);
} }