From 44b7d94b1c82501a2301bb08a8211d33e6bd83c5 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 20 Jun 2012 19:31:19 +1000
Subject: [PATCH] APM: ArduPlane updates for new compass interface

---
 ArduPlane/ArduPlane.pde |  3 ---
 ArduPlane/system.pde    |  1 -
 ArduPlane/test.pde      | 12 +++++-------
 3 files changed, 5 insertions(+), 11 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 94d61b0412..202fb611f5 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -793,9 +793,6 @@ static void medium_loop()
 			#if HIL_MODE != HIL_MODE_ATTITUDE
             if (g.compass_enabled && compass.read()) {
                 ahrs.set_compass(&compass);
-                // Calculate heading
-                Matrix3f m = ahrs.get_dcm_matrix();
-                compass.calculate(m);
                 compass.null_offsets();
             } else {
                 ahrs.set_compass(NULL);
diff --git a/ArduPlane/system.pde b/ArduPlane/system.pde
index 36608a11ac..6cc0f652f3 100644
--- a/ArduPlane/system.pde
+++ b/ArduPlane/system.pde
@@ -173,7 +173,6 @@ static void init_ardupilot()
             g.compass_enabled = false;
         } else {
             ahrs.set_compass(&compass);
-            compass.null_offsets_enable();
         }
 	}
 #endif
diff --git a/ArduPlane/test.pde b/ArduPlane/test.pde
index 3d369e5909..211bc8d37c 100644
--- a/ArduPlane/test.pde
+++ b/ArduPlane/test.pde
@@ -533,10 +533,7 @@ test_imu(uint8_t argc, const Menu::arg *argv)
 			if(g.compass_enabled) {
 				medium_loopCounter++;
 				if(medium_loopCounter == 5){
-					if (compass.read()) {
-                        // Calculate heading
-                        compass.calculate(ahrs.get_dcm_matrix());
-                    }
+					compass.read();
                     medium_loopCounter = 0;
 				}
 			}
@@ -573,7 +570,6 @@ test_mag(uint8_t argc, const Menu::arg *argv)
         Serial.println_P(PSTR("Compass initialisation failed!"));
         return 0;
     }
-    compass.null_offsets_enable();
     ahrs.set_compass(&compass);
     report_compass();
 
@@ -582,6 +578,8 @@ test_mag(uint8_t argc, const Menu::arg *argv)
     ahrs.reset();
 
 	int counter = 0;
+    float heading = 0;
+
 		//Serial.printf_P(PSTR("MAG_ORIENTATION: %d\n"), MAG_ORIENTATION);
 
     print_hit_enter();
@@ -602,7 +600,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
                 if (compass.read()) {
                     // Calculate heading
                     Matrix3f m = ahrs.get_dcm_matrix();
-                    compass.calculate(m);
+                    heading = compass.calculate_heading(m);
                     compass.null_offsets();
                 }
                 medium_loopCounter = 0;
@@ -613,7 +611,7 @@ test_mag(uint8_t argc, const Menu::arg *argv)
                 if (compass.healthy) {
                     Vector3f maggy = compass.get_offsets();
                     Serial.printf_P(PSTR("Heading: %ld, XYZ: %d, %d, %d,\tXYZoff: %6.2f, %6.2f, %6.2f\n"),
-                                    (wrap_360(ToDeg(compass.heading) * 100)) /100,
+                                    (wrap_360(ToDeg(heading) * 100)) /100,
                                     (int)compass.mag_x,
                                     (int)compass.mag_y,
                                     (int)compass.mag_z,