Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

ArduCopter: use compass get_{field,offsets}() functions 

Both functions are equivalent, so we're going to simply use
get_{field,offsets}() instead of get_{field,offsets}_milligauss().
This commit is contained in:
Gustavo Jose de Sousa 2015-09-28 16:57:03 -03:00 committed by Randy Mackay
parent 7c725bb59e
commit fb5320bb25
4 changed files with 8 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduCopter/compassmot.cpp
View File

@ -124,7 +124,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// store initial x,y,z compass values // store initial x,y,z compass values
// initialise interference percentage // initialise interference percentage
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
compass_base[i] = compass.get_field_milligauss(i); compass_base[i] = compass.get_field(i);
interference_pct[i] = 0.0f; interference_pct[i] = 0.0f;
} }
@ -167,7 +167,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// if throttle is near zero, update base x,y,z values // if throttle is near zero, update base x,y,z values
if (throttle_pct <= 0.0f) { if (throttle_pct <= 0.0f) {
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
compass_base[i] = compass_base[i] * 0.99f + compass.get_field_milligauss(i) * 0.01f; compass_base[i] = compass_base[i] * 0.99f + compass.get_field(i) * 0.01f;
} }
// causing printing to happen as soon as throttle is lifted // causing printing to happen as soon as throttle is lifted
@ -175,7 +175,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
// calculate diff from compass base and scale with throttle // calculate diff from compass base and scale with throttle
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
motor_impact[i] = compass.get_field_milligauss(i) - compass_base[i]; motor_impact[i] = compass.get_field(i) - compass_base[i];
} }
// throttle based compensation // throttle based compensation

4
ArduCopter/motors.cpp
View File

@ -358,7 +358,7 @@ bool Copter::pre_arm_checks(bool display_failure)
} }
// check for unreasonable compass offsets // check for unreasonable compass offsets
Vector3f offsets = compass.get_offsets_milligauss(); Vector3f offsets = compass.get_offsets();
if(offsets.length() > COMPASS_OFFSETS_MAX) { if(offsets.length() > COMPASS_OFFSETS_MAX) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high")); gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Compass offsets too high"));
@ -367,7 +367,7 @@ bool Copter::pre_arm_checks(bool display_failure)
} }
// check for unreasonable mag field length // check for unreasonable mag field length
float mag_field = compass.get_field_milligauss().length(); float mag_field = compass.get_field().length();
if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) { if (mag_field > COMPASS_MAGFIELD_EXPECTED*1.65f || mag_field < COMPASS_MAGFIELD_EXPECTED*0.35f) {
if (display_failure) { if (display_failure) {
gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field")); gcs_send_text_P(MAV_SEVERITY_CRITICAL,PSTR("PreArm: Check mag field"));

2
ArduCopter/setup.cpp
View File

@ -450,7 +450,7 @@ void Copter::report_compass()
// mag offsets // mag offsets
Vector3f offsets; Vector3f offsets;
for (uint8_t i=0; i<compass.get_count(); i++) { for (uint8_t i=0; i<compass.get_count(); i++) {
offsets = compass.get_offsets_milligauss(i); offsets = compass.get_offsets(i);
// mag offsets // mag offsets
cliSerial->printf_P(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"), cliSerial->printf_P(PSTR("Mag%d off: %4.4f, %4.4f, %4.4f\n"),
(int)i, (int)i,

4
ArduCopter/test.cpp
View File

@ -116,8 +116,8 @@ int8_t Copter::test_compass(uint8_t argc, const Menu::arg *argv)
counter++; counter++;
if (counter>20) { if (counter>20) {
if (compass.healthy()) { if (compass.healthy()) {
const Vector3f &mag_ofs = compass.get_offsets_milligauss(); const Vector3f &mag_ofs = compass.get_offsets();
const Vector3f &mag = compass.get_field_milligauss(); const Vector3f &mag = compass.get_field();
cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"), cliSerial->printf_P(PSTR("Heading: %ld, XYZ: %.0f, %.0f, %.0f,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
(wrap_360_cd(ToDeg(heading) * 100)) /100, (wrap_360_cd(ToDeg(heading) * 100)) /100,
(double)mag.x, (double)mag.x,