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ACM: removed quaternion special cases in CLI code

This commit is contained in:
Andrew Tridgell 2012-03-07 15:12:50 +11:00
parent e870e7bd82
commit e2c525434a
1 changed files with 6 additions and 16 deletions
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22
ArduCopter/test.pde
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@ -329,13 +329,10 @@ test_radio(uint8_t argc, const Menu::arg *argv)
if(g.compass_enabled){
medium_loopCounter++;
if(medium_loopCounter == 5){
Matrix3f m = dcm.get_dcm_matrix();
compass.read(); // Read magnetometer
#if QUATERNION_ENABLE == ENABLED
compass.calculate(dcm.roll, dcm.pitch);
#else
compass.calculate(dcm.get_dcm_matrix());
compass.null_offsets(dcm.get_dcm_matrix());
#endif
compass.calculate(m);
compass.null_offsets(m);
medium_loopCounter = 0;
}
}
@ -552,12 +549,9 @@ test_imu(uint8_t argc, const Menu::arg *argv)
if(g.compass_enabled){
compass.read(); // Read magnetometer
#if QUATERNION_ENABLE == ENABLED
compass.calculate(dcm.roll, dcm.pitch);
#else
compass.calculate(dcm.get_dcm_matrix());
compass.null_offsets(dcm.get_dcm_matrix());
#endif
Matrix3f m = dcm.get_dcm_matrix();
compass.calculate(m);
compass.null_offsets(m);
}
}
fast_loopTimer = millis();
@ -941,11 +935,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
while(1){
delay(100);
if (compass.read()) {
#if QUATERNION_ENABLE == ENABLED
compass.calculate(dcm.roll, dcm.pitch);
#else
compass.calculate(dcm.get_dcm_matrix());
#endif
Vector3f maggy = compass.get_offsets();
Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d\n"),
(wrap_360(ToDeg(compass.heading) * 100)) /100,