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Rover: consolidate compass calls in sensors.cpp

This commit is contained in:
Randy Mackay 2019-03-16 10:10:33 +09:00
parent c36345b2cc
commit eb96dcf173
3 changed files with 31 additions and 33 deletions
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14
APMrover2/APMrover2.cpp
View File

@ -205,20 +205,6 @@ void Rover::gcs_failsafe_check(void)
failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000); failsafe_trigger(FAILSAFE_EVENT_GCS, failsafe.last_heartbeat_ms != 0 && (millis() - failsafe.last_heartbeat_ms) > 2000);
} }
/*
check for new compass data - 10Hz
*/
void Rover::update_compass(void)
{
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
// update offsets
if (should_log(MASK_LOG_COMPASS)) {
logger.Write_Compass();
}
}
}
/* /*
log some key data - 10Hz log some key data - 10Hz
*/ */

6
APMrover2/Rover.h
View File

@ -386,7 +386,6 @@ private:
void stats_update(); void stats_update();
void ahrs_update(); void ahrs_update();
void gcs_failsafe_check(void); void gcs_failsafe_check(void);
void update_compass(void);
void update_logging1(void); void update_logging1(void);
void update_logging2(void); void update_logging2(void);
void one_second_loop(void); void one_second_loop(void);
@ -481,11 +480,12 @@ private:
// sensors.cpp // sensors.cpp
void init_compass(void); void init_compass(void);
void init_compass_location(void); void init_compass_location(void);
void update_compass(void);
void compass_cal_update(void);
void compass_save(void);
void init_beacon(); void init_beacon();
void init_visual_odom(); void init_visual_odom();
void update_wheel_encoder(); void update_wheel_encoder();
void compass_cal_update(void);
void compass_save(void);
void accel_cal_update(void); void accel_cal_update(void);
void read_rangefinders(void); void read_rangefinders(void);
void init_proximity(); void init_proximity();

44
APMrover2/sensors.cpp
View File

@ -34,6 +34,34 @@ void Rover::init_compass_location(void)
} }
} }
// check for new compass data - 10Hz
void Rover::update_compass(void)
{
if (g.compass_enabled && compass.read()) {
ahrs.set_compass(&compass);
// update offsets
if (should_log(MASK_LOG_COMPASS)) {
logger.Write_Compass();
}
}
}
// Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// Save compass offsets
void Rover::compass_save() {
if (g.compass_enabled &&
compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
!arming.is_armed()) {
compass.save_offsets();
}
}
// init beacons used for non-gps position estimates // init beacons used for non-gps position estimates
void Rover::init_beacon() void Rover::init_beacon()
{ {
@ -110,22 +138,6 @@ void Rover::update_wheel_encoder()
wheel_encoder_last_ekf_update_ms = now; wheel_encoder_last_ekf_update_ms = now;
} }
// Calibrate compass
void Rover::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
// Save compass offsets
void Rover::compass_save() {
if (g.compass_enabled &&
compass.get_learn_type() >= Compass::LEARN_INTERNAL &&
!arming.is_armed()) {
compass.save_offsets();
}
}
// Accel calibration // Accel calibration
void Rover::accel_cal_update() { void Rover::accel_cal_update() {