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

AP_Compass: added set_board_orientation() method

Browse Source
This commit is contained in:
Andrew Tridgell 2013-01-13 16:02:49 +11:00
parent 8015f0f626
commit 60a4447a86
3 changed files with 14 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_Compass/AP_Compass_HMC5843.cpp
View File

@ -322,8 +322,13 @@ bool AP_Compass_HMC5843::read()
if (product_id == AP_COMPASS_TYPE_HMC5883L) { if (product_id == AP_COMPASS_TYPE_HMC5883L) {
rot_mag.rotate(ROTATION_YAW_90); rot_mag.rotate(ROTATION_YAW_90);
} }
// add components orientation
rot_mag.rotate(_orientation); rot_mag.rotate(_orientation);
// add in board orientation
rot_mag.rotate(_board_orientation);
rot_mag += _offset.get(); rot_mag += _offset.get();
mag_x = rot_mag.x; mag_x = rot_mag.x;
mag_y = rot_mag.y; mag_y = rot_mag.y;

2
libraries/AP_Compass/AP_Compass_PX4.cpp
View File

@ -64,7 +64,7 @@ bool AP_Compass_PX4::read(void)
_sum /= _count; _sum /= _count;
_sum *= 1000; _sum *= 1000;
_sum.rotate(_orientation); _sum.rotate(_orientation);
_sum.rotate(_board_orientation);
_sum += _offset.get(); _sum += _offset.get();
mag_x = _sum.x; mag_x = _sum.x;

8
libraries/AP_Compass/Compass.h
View File

@ -123,6 +123,11 @@ public:
static const struct AP_Param::GroupInfo var_info[]; static const struct AP_Param::GroupInfo var_info[];
// set overall board orientation
void set_board_orientation(enum Rotation orientation) {
_board_orientation = orientation;
}
protected: protected:
enum Rotation _orientation; enum Rotation _orientation;
AP_Vector3f _offset; AP_Vector3f _offset;
@ -137,5 +142,8 @@ protected:
static const uint8_t _mag_history_size = 20; static const uint8_t _mag_history_size = 20;
uint8_t _mag_history_index; uint8_t _mag_history_index;
Vector3i _mag_history[_mag_history_size]; Vector3i _mag_history[_mag_history_size];
// board orientation from AHRS
enum Rotation _board_orientation;
}; };
#endif #endif