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AP_Compass: allow override of QMC5883L orientation

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This commit is contained in:
Andrew Tridgell 2018-07-30 16:34:08 +10:00
parent 033061121a
commit fec7a76101
2 changed files with 16 additions and 4 deletions
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9
libraries/AP_Compass/AP_Compass.cpp
View File

@ -578,14 +578,15 @@ void Compass::_probe_external_i2c_compasses(void)
//external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
}
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_ROLL_180_YAW_270),
both_i2c_external,
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name,both_i2c_external);
}
@ -925,10 +926,10 @@ void Compass::_detect_backends(void)
true, ROTATION_PITCH_180_YAW_90), AP_Compass_IST8310::name, true);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_QMC5883L
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(1, HAL_COMPASS_QMC5883L_I2C_ADDR),
true,ROTATION_ROLL_180),
true, HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL),
AP_Compass_QMC5883L::name, true);
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(*this, GET_I2C_DEVICE(0, HAL_COMPASS_QMC5883L_I2C_ADDR),
false,ROTATION_PITCH_180_YAW_270),
false, HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL),
AP_Compass_QMC5883L::name, false);
#elif CONFIG_HAL_BOARD == HAL_BOARD_LINUX && CONFIG_HAL_BOARD_SUBTYPE != HAL_BOARD_SUBTYPE_LINUX_NONE
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(*this, GET_I2C_DEVICE(HAL_COMPASS_HMC5843_I2C_BUS, HAL_COMPASS_HMC5843_I2C_ADDR)),

11
libraries/AP_Compass/AP_Compass_QMC5883L.h
View File

@ -28,6 +28,17 @@
#define HAL_COMPASS_QMC5883L_I2C_ADDR 0x0D
#endif
/*
setup default orientations
*/
#ifndef HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL
#define HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL ROTATION_ROLL_180
#endif
#ifndef HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL
#define HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL ROTATION_ROLL_180_YAW_270
#endif
class AP_Compass_QMC5883L : public AP_Compass_Backend
{
public: