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AP_Compass: add and use compass.available()

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Covers both being enabled and initialised
This commit is contained in:
Peter Barker 2021-07-27 15:50:24 +10:00 committed by Peter Barker
parent 8bbed968de
commit 658c978c9d
2 changed files with 18 additions and 0 deletions
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14
libraries/AP_Compass/AP_Compass.cpp
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@ -1512,6 +1512,10 @@ void
Compass::_detect_runtime(void)
{
#if HAL_ENABLE_LIBUAVCAN_DRIVERS
if (!available()) {
return;
}
//Don't try to add device while armed
if (hal.util->get_soft_armed()) {
return;
@ -1537,6 +1541,10 @@ Compass::_detect_runtime(void)
bool
Compass::read(void)
{
if (!available()) {
return false;
}
#ifndef HAL_BUILD_AP_PERIPH
if (!_initial_location_set) {
try_set_initial_location();
@ -1726,6 +1734,9 @@ Compass::use_for_yaw(void) const
bool
Compass::use_for_yaw(uint8_t i) const
{
if (!available()) {
return false;
}
// when we are doing in-flight compass learning the state
// estimator must not use the compass. The learning code turns off
// inflight learning when it has converged
@ -1938,6 +1949,9 @@ bool Compass::consistent() const
*/
bool Compass::have_scale_factor(uint8_t i) const
{
if (!available()) {
return false;
}
StateIndex id = _get_state_id(Priority(i));
if (id >= COMPASS_MAX_INSTANCES ||
_state[id].scale_factor < COMPASS_MIN_SCALE_FACTOR ||

4
libraries/AP_Compass/AP_Compass.h
View File

@ -104,6 +104,10 @@ public:
bool enabled() const { return _enabled; }
// available returns true if the compass is both enabled and has
// been initialised
bool available() const { return _enabled && init_done; }
/// Calculate the tilt-compensated heading_ variables.
///
/// @param dcm_matrix The current orientation rotation matrix