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

AP_Compass: added set_hil_mode()

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
libraries/AP_Compass/Compass.cpp
View File

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

6
libraries/AP_Compass/Compass.h
View File

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