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Rover: support 3 magnetometers

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This commit is contained in:
Andrew Tridgell 2014-07-04 12:49:36 +10:00
parent 5aa58d2ab5
commit fdeedfa173
2 changed files with 22 additions and 0 deletions
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21
APMrover2/Log.pde
View File

@ -461,6 +461,27 @@ static void Log_Write_Compass()
DataFlash.WriteBlock(&pkt2, sizeof(pkt2));
}
#endif
#if COMPASS_MAX_INSTANCES > 2
if (compass.get_count() > 2) {
const Vector3f &mag3_offsets = compass.get_offsets(2);
const Vector3f &mag3_motor_offsets = compass.get_motor_offsets(2);
const Vector3f &mag3 = compass.get_field(2);
struct log_Compass pkt3 = {
LOG_PACKET_HEADER_INIT(LOG_COMPASS3_MSG),
time_ms : millis(),
mag_x : (int16_t)mag3.x,
mag_y : (int16_t)mag3.y,
mag_z : (int16_t)mag3.z,
offset_x : (int16_t)mag3_offsets.x,
offset_y : (int16_t)mag3_offsets.y,
offset_z : (int16_t)mag3_offsets.z,
motor_offset_x : (int16_t)mag3_motor_offsets.x,
motor_offset_y : (int16_t)mag3_motor_offsets.y,
motor_offset_z : (int16_t)mag3_motor_offsets.z
};
DataFlash.WriteBlock(&pkt3, sizeof(pkt3));
}
#endif
}

1
APMrover2/defines.h
View File

@ -74,6 +74,7 @@ enum mode {
#define LOG_CAMERA_MSG 0x0B // deprecated
#define LOG_COMPASS2_MSG 0x0C
#define LOG_STEERING_MSG 0x0D
#define LOG_COMPASS3_MSG 0x0E
#define TYPE_AIRSTART_MSG 0x00
#define TYPE_GROUNDSTART_MSG 0x01