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AP_Compass: VRBRAIN. Deal with external mag connected on internal I2C on VRBRAIN 4.5

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This enables user to set the external parameter to true even if only one compass is connected
This commit is contained in:
Emile Castelnuovo 2014-08-14 08:18:39 +02:00 committed by Andrew Tridgell
parent bbb9925c47
commit 3b53c167a0
1 changed files with 6 additions and 3 deletions
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9
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
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@ -57,10 +57,8 @@ bool AP_Compass_VRBRAIN::init(void)
}
for (uint8_t i=0; i<_num_instances; i++) {
#ifdef DEVIOCGDEVICEID
// get device id
_dev_id[i] = ioctl(_mag_fd[i], DEVIOCGDEVICEID, 0);
#endif
// average over up to 20 samples
if (ioctl(_mag_fd[i], SENSORIOCSQUEUEDEPTH, 20) != 0) {
@ -70,6 +68,11 @@ bool AP_Compass_VRBRAIN::init(void)
// remember if the compass is external
_is_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
//deal with situations where user has cut internal mag on VRBRAIN 4.5
//and uses only one external mag attached to the internal I2C bus
_is_external[i] = _external.load() ? _external.get() : _is_external[i];
#endif
if (_is_external[i]) {
hal.console->printf("Using external compass[%u]\n", (unsigned)i);
}
@ -109,7 +112,7 @@ bool AP_Compass_VRBRAIN::read(void)
_sum[i].rotate(MAG_BOARD_ORIENTATION);
// override any user setting of COMPASS_EXTERNAL
_external.set(_is_external[0]);
//_external.set(_is_external[0]);
if (_is_external[i]) {
// add user selectable orientation