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AP_Compass: allow rotation of BMM150 compass

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This commit is contained in:
Andrew Tridgell 2019-09-07 07:34:13 +10:00
parent 1cb775e2c2
commit df387dc396
3 changed files with 10 additions and 7 deletions
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2
libraries/AP_Compass/AP_Compass.cpp
View File

@ -789,7 +789,7 @@ void Compass::_detect_backends(void)
case AP_BoardConfig::PX4_BOARD_PCNC1:
ADD_BACKEND(DRIVER_BMM150,
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10)));
AP_Compass_BMM150::probe(GET_I2C_DEVICE(0, 0x10), ROTATION_NONE));
break;
case AP_BoardConfig::VRX_BOARD_BRAIN54: {
// external i2c bus

10
libraries/AP_Compass/AP_Compass_BMM150.cpp
View File

@ -63,12 +63,12 @@
extern const AP_HAL::HAL &hal;
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation)
{
if (!dev) {
return nullptr;
}
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev));
AP_Compass_BMM150 *sensor = new AP_Compass_BMM150(std::move(dev), rotation);
if (!sensor || !sensor->init()) {
delete sensor;
return nullptr;
@ -77,8 +77,8 @@ AP_Compass_Backend *AP_Compass_BMM150::probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> d
return sensor;
}
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev)
: _dev(std::move(dev))
AP_Compass_BMM150::AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation)
: _dev(std::move(dev)), _rotation(rotation)
{
}
@ -216,6 +216,8 @@ bool AP_Compass_BMM150::init()
/* register the compass instance in the frontend */
_compass_instance = register_compass();
set_rotation(_compass_instance, _rotation);
_dev->set_device_type(DEVTYPE_BMM150);
set_dev_id(_compass_instance, _dev->get_bus_id());

5
libraries/AP_Compass/AP_Compass_BMM150.h
View File

@ -27,14 +27,14 @@
class AP_Compass_BMM150 : public AP_Compass_Backend
{
public:
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
static AP_Compass_Backend *probe(AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev, enum Rotation rotation);
void read() override;
static constexpr const char *name = "BMM150";
private:
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev);
AP_Compass_BMM150(AP_HAL::OwnPtr<AP_HAL::Device> dev, enum Rotation rotation);
/**
* Device periodic callback to read data from the sensor.
@ -65,4 +65,5 @@ private:
uint32_t _last_read_ms;
AP_HAL::Util::perf_counter_t _perf_err;
enum Rotation _rotation;
};