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AP_Compass: added set_hil_mode()

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This commit is contained in:
Andrew Tridgell 2015-03-13 22:32:35 +11:00
parent 2e9d2e6449
commit fec2025469
2 changed files with 12 additions and 1 deletions
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7
libraries/AP_Compass/Compass.cpp
View File

@ -280,7 +280,8 @@ Compass::Compass(void) :
_thr_or_curr(0.0f), _thr_or_curr(0.0f),
_backend_count(0), _backend_count(0),
_compass_count(0), _compass_count(0),
_board_orientation(ROTATION_NONE) _board_orientation(ROTATION_NONE),
_hil_mode(false)
{ {
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);
for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) { for (uint8_t i=0; i<COMPASS_MAX_BACKEND; i++) {
@ -343,6 +344,10 @@ Compass::_add_backend(AP_Compass_Backend *(detect)(Compass &))
void void
Compass::_detect_backends(void) Compass::_detect_backends(void)
{ {
if (_hil_mode) {
_add_backend(AP_Compass_HIL::detect);
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE #if CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
_add_backend(AP_Compass_HMC5843::detect); _add_backend(AP_Compass_HMC5843::detect);

6
libraries/AP_Compass/Compass.h
View File

@ -246,6 +246,9 @@ public:
const Vector3f& getHIL() const; const Vector3f& getHIL() const;
void _setup_earth_field(); void _setup_earth_field();
// enable HIL mode
void set_hil_mode(void) { _hil_mode = true; }
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
@ -331,6 +334,9 @@ private:
// when we last got data // when we last got data
uint32_t last_update_ms; uint32_t last_update_ms;
} _state[COMPASS_MAX_INSTANCES]; } _state[COMPASS_MAX_INSTANCES];
// if we want HIL only
bool _hil_mode:1;
}; };
#include "AP_Compass_Backend.h" #include "AP_Compass_Backend.h"