Initialization was also changed a little bit so we don't try to
initialize 25 times. We rather use the same methods as in the
AP_InertialSensor drivers.
Also move up the call to is_zero() in read_raw so we don't set
_mag_[x|y|z] in case of failure.
These are not used. The only place where raw fields are used are in the
compass calibrator and we don't need to store them.
Additionally remove duplicated documentation about the meaning of the
functions to avoid them getting out of sync.
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
- Capitalize and rename constants
- Make clear what gain is applied in calibration and what is the
"normal" gain
- Make the separation between HMC5883L and HMC5843 explicit when it
makes sense to improve readability
- Remove spurious delay in calibrate function
We still need the BusDriver (in some places called SerialBus) interface
since this driver can also be used on an AuxiliaryBus and that has a
different interface.
Besides the usual conversion some more improvements:
- Use generic function to convert endianness
- Minor cleanups
- Reorder per-board ifdefs in compass instantiation: distinguish when
there's a default compass to when it should probe other compasses
0-length arrays are supported in C but forbidden in C++. GCC allows it
but clang is more strict:
../../libraries/AP_HAL_Linux/SPIDriver.cpp:75:35: fatal error: no matching constructor for initialization of 'Linux::SPIDeviceDriver [0]'
SPIDeviceDriver SPIDeviceManager::_device[0];
^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit move constructor) not viable: requires 1 argument, but 0 were provided
class SPIDeviceDriver : public AP_HAL::SPIDeviceDriver {
^
../../libraries/AP_HAL_Linux/SPIDriver.h:20:7: note: candidate constructor (the implicit copy constructor) not viable: requires 1 argument, but 0 were provided
../../libraries/AP_HAL_Linux/SPIDriver.h:25:5: note: candidate constructor not viable: requires 9 arguments, but 0 were provided
SPIDeviceDriver(const char *name, uint16_t bus, uint16_t subdev, enum AP_HAL::SPIDeviceType type, uint8_t mode, uint8_t bitsPerWord, int16_t cs_pin, uint32_t lowspeed, uint32_t highspeed);
^
1 error generated.
In file included from /home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/Compass.h:6:
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: warning: struct 'param_t' was previously declared as a class [-Wmismatched-tags]
struct param_t _params;
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:44:11: note: previous use is here
class param_t {
^
/home/lucas/p/dronecode/ardupilot/libraries/AP_Compass/CompassCalibrator.h:86:5: note: did you mean class here?
struct param_t _params;
^~~~~~
Not having data ready during initialization is normal. Don't print error
message since it can mislead people to think the compass was not
initialized successfully.
if the top level controller doesn't consider a waypoint complete when
we are passed next_WP then it would keep flying away from the line
segment. This doesn't happen with the current master code, but we want
to ensure it is handled
We should return the number of bytes written/read, not 0 on success.
This number may be useful in some cases so return it.
While at it fix a simple wrong space in the header.
