aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

APMrover2: SET_SENSORS_OFFSETS support for third compass

Browse Source
This commit is contained in:
Don Gagne 2016-03-14 10:56:26 -03:00 committed by Lucas De Marchi
parent bc62164ac9
commit 4743a34cf7
1 changed files with 12 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

20
APMrover2/GCS_Mavlink.cpp
View File

@ -981,18 +981,22 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
}
break;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
if (is_equal(packet.param1,2.0f)) {
// save first compass's offsets
rover.compass.set_and_save_offsets(0, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
case MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS:
{
uint8_t compassNumber = -1;
if (is_equal(packet.param1, 2.0f)) {
compassNumber = 0;
} else if (is_equal(packet.param1, 5.0f)) {
compassNumber = 1;
} else if (is_equal(packet.param1, 6.0f)) {
compassNumber = 2;
}
if (is_equal(packet.param1,5.0f)) {
// save secondary compass's offsets
rover.compass.set_and_save_offsets(1, packet.param2, packet.param3, packet.param4);
if (compassNumber != (uint8_t) -1) {
rover.compass.set_and_save_offsets(compassNumber, packet.param2, packet.param3, packet.param4);
result = MAV_RESULT_ACCEPTED;
}
break;
}
case MAV_CMD_DO_SET_MODE:
switch ((uint16_t)packet.param1) {