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Copter: CLI report_compass prints results for all compasses

This commit is contained in:
Randy Mackay 2014-07-22 16:32:37 +09:00
parent 3c702e5fc5
commit eb696e247b
1 changed files with 16 additions and 8 deletions
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24
ArduCopter/setup.pde
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@ -398,13 +398,17 @@ static void report_compass()
cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"), cliSerial->printf_P(PSTR("Mag Dec: %4.4f\n"),
degrees(compass.get_declination())); degrees(compass.get_declination()));
Vector3f offsets = compass.get_offsets();
// mag offsets // mag offsets
cliSerial->printf_P(PSTR("Mag off: %4.4f, %4.4f, %4.4f\n"), Vector3f offsets;
offsets.x, for (uint8_t i=0; i<compass.get_count(); i++) {
offsets.y, offsets = compass.get_offsets(i);
offsets.z); // mag offsets
cliSerial->printf_P(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"),
(int)i,
offsets.x,
offsets.y,
offsets.z);
}
// motor compensation // motor compensation
cliSerial->print_P(PSTR("Motor Comp: ")); cliSerial->print_P(PSTR("Motor Comp: "));
@ -417,11 +421,15 @@ static void report_compass()
if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) { if( compass.motor_compensation_type() == AP_COMPASS_MOT_COMP_CURRENT ) {
cliSerial->print_P(PSTR("Current")); cliSerial->print_P(PSTR("Current"));
} }
Vector3f motor_compensation = compass.get_motor_compensation(); Vector3f motor_compensation;
cliSerial->printf_P(PSTR("\nComp Vec: %4.2f, %4.2f, %4.2f\n"), for (uint8_t i=0; i<compass.get_count(); i++) {
motor_compensation = compass.get_motor_compensation(i);
cliSerial->printf_P(PSTR("\nComMot%d: %4.2f, %4.2f, %4.2f\n"),
(int)i,
motor_compensation.x, motor_compensation.x,
motor_compensation.y, motor_compensation.y,
motor_compensation.z); motor_compensation.z);
}
} }
print_blanks(1); print_blanks(1);
} }