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Compass: use_for_yaw for each compass

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Randy Mackay 2014-09-18 21:56:13 +09:00 committed by Andrew Tridgell
parent 84d792216e
commit 798cc36e64
2 changed files with 19 additions and 5 deletions
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17
libraries/AP_Compass/Compass.cpp
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@ -45,7 +45,7 @@ const AP_Param::GroupInfo Compass::var_info[] PROGMEM = {
// @Description: Enable or disable the use of the compass (instead of the GPS) for determining heading // @Description: Enable or disable the use of the compass (instead of the GPS) for determining heading
// @Values: 0:Disabled,1:Enabled // @Values: 0:Disabled,1:Enabled
// @User: Advanced // @User: Advanced
AP_GROUPINFO("USE", 4, Compass, _use_for_yaw, 1), // true if used for DCM yaw AP_GROUPINFO("USE", 4, Compass, _use_for_yaw[0], 1), // true if used for DCM yaw
#if !defined( __AVR_ATmega1280__ ) #if !defined( __AVR_ATmega1280__ )
// @Param: AUTODEC // @Param: AUTODEC
@ -303,6 +303,21 @@ Compass::set_initial_location(int32_t latitude, int32_t longitude)
#endif #endif
} }
/// return true if the compass should be used for yaw calculations
bool
Compass::use_for_yaw(void) const
{
uint8_t prim = get_primary();
return healthy(prim) && use_for_yaw(prim);
}
/// return true if the specified compass can be used for yaw calculations
bool
Compass::use_for_yaw(uint8_t i) const
{
return _use_for_yaw[i];
}
void void
Compass::set_declination(float radians, bool save_to_eeprom) Compass::set_declination(float radians, bool save_to_eeprom)
{ {

7
libraries/AP_Compass/Compass.h
View File

@ -151,9 +151,8 @@ public:
void learn_offsets(void); void learn_offsets(void);
/// return true if the compass should be used for yaw calculations /// return true if the compass should be used for yaw calculations
bool use_for_yaw(void) const { bool use_for_yaw(uint8_t i) const;
return healthy() && _use_for_yaw; bool use_for_yaw(void) const;
}
/// Sets the local magnetic field declination. /// Sets the local magnetic field declination.
/// ///
@ -253,7 +252,7 @@ protected:
AP_Int8 _orientation; AP_Int8 _orientation;
AP_Vector3f _offset[COMPASS_MAX_INSTANCES]; AP_Vector3f _offset[COMPASS_MAX_INSTANCES];
AP_Float _declination; AP_Float _declination;
AP_Int8 _use_for_yaw; ///<enable use for yaw calculation AP_Int8 _use_for_yaw[COMPASS_MAX_INSTANCES];///<enable use for yaw calculation
AP_Int8 _auto_declination; ///<enable automatic declination code AP_Int8 _auto_declination; ///<enable automatic declination code
AP_Int8 _external; ///<compass is external AP_Int8 _external; ///<compass is external
#if COMPASS_MAX_INSTANCES > 1 #if COMPASS_MAX_INSTANCES > 1