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AP_Compass: don't show too many params when max compasses 1

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This commit is contained in:
Andrew Tridgell 2019-10-10 14:19:28 +11:00
parent 6e676be6b3
commit 7ad91fa1c9
1 changed files with 24 additions and 0 deletions
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24
libraries/AP_Compass/AP_Compass.cpp
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@ -48,6 +48,10 @@ extern const AP_HAL::HAL& hal;
#define HAL_COMPASS_AUTO_ROT_DEFAULT 2
#endif
#ifndef HAL_COMPASS_MAX_SENSORS
#define HAL_COMPASS_MAX_SENSORS 3
#endif
const AP_Param::GroupInfo Compass::var_info[] = {
// index 0 was used for the old orientation matrix
@ -152,6 +156,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
AP_GROUPINFO("EXTERNAL", 9, Compass, _state[0].external, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: OFS2_X
// @DisplayName: Compass2 offsets in milligauss on the X axis
// @Description: Offset to be added to compass2's x-axis values to compensate for metal in the frame
@ -208,7 +213,9 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Values: 0:FirstCompass,1:SecondCompass,2:ThirdCompass
// @User: Advanced
AP_GROUPINFO("PRIMARY", 12, Compass, _primary, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: OFS3_X
// @DisplayName: Compass3 offsets in milligauss on the X axis
// @Description: Offset to be added to compass3's x-axis values to compensate for metal in the frame
@ -258,6 +265,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Increment: 1
// @User: Advanced
AP_GROUPINFO("MOT3", 14, Compass, _state[2].motor_compensation, 0),
#endif // HAL_COMPASS_MAX_SENSORS
// @Param: DEV_ID
// @DisplayName: Compass device id
@ -266,20 +274,25 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
AP_GROUPINFO("DEV_ID", 15, Compass, _state[0].dev_id, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: DEV_ID2
// @DisplayName: Compass2 device id
// @Description: Second compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID2", 16, Compass, _state[1].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: DEV_ID3
// @DisplayName: Compass3 device id
// @Description: Third compass's device id. Automatically detected, do not set manually
// @ReadOnly: True
// @User: Advanced
AP_GROUPINFO("DEV_ID3", 17, Compass, _state[2].dev_id, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: USE2
// @DisplayName: Compass2 used for yaw
// @Description: Enable or disable the second compass for determining heading.
@ -300,7 +313,9 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Values: 0:Internal,1:External,2:ForcedExternal
// @User: Advanced
AP_GROUPINFO("EXTERN2",20, Compass, _state[1].external, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: USE3
// @DisplayName: Compass3 used for yaw
// @Description: Enable or disable the third compass for determining heading.
@ -321,6 +336,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Values: 0:Internal,1:External,2:ForcedExternal
// @User: Advanced
AP_GROUPINFO("EXTERN3",23, Compass, _state[2].external, 0),
#endif // HAL_COMPASS_MAX_SENSORS
// @Param: DIA_X
// @DisplayName: Compass soft-iron diagonal X component
@ -354,6 +370,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
AP_GROUPINFO("ODI", 25, Compass, _state[0].offdiagonals, 0),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: DIA2_X
// @DisplayName: Compass2 soft-iron diagonal X component
// @Description: DIA_X in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
@ -385,7 +402,9 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: ODI_Z in the compass2 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
AP_GROUPINFO("ODI2", 27, Compass, _state[1].offdiagonals, 0),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: DIA3_X
// @DisplayName: Compass3 soft-iron diagonal X component
// @Description: DIA_X in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
@ -417,6 +436,7 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @Description: ODI_Z in the compass3 soft-iron calibration matrix: [[DIA_X, ODI_X, ODI_Y], [ODI_X, DIA_Y, ODI_Z], [ODI_Y, ODI_Z, DIA_Z]]
// @User: Advanced
AP_GROUPINFO("ODI3", 29, Compass, _state[2].offdiagonals, 0),
#endif // HAL_COMPASS_MAX_SENSORS
// @Param: CAL_FIT
// @DisplayName: Compass calibration fitness
@ -468,17 +488,21 @@ const AP_Param::GroupInfo Compass::var_info[] = {
// @User: Advanced
AP_GROUPINFO("EXP_DID", 36, Compass, _state[0].expected_dev_id, -1),
#if HAL_COMPASS_MAX_SENSORS > 1
// @Param: EXP_DID2
// @DisplayName: Compass2 device id expected
// @Description: The expected value of COMPASS_DEV_ID2, used by arming checks. Setting this to -1 means "don't care."
// @User: Advanced
AP_GROUPINFO("EXP_DID2", 37, Compass, _state[1].expected_dev_id, -1),
#endif // HAL_COMPASS_MAX_SENSORS
#if HAL_COMPASS_MAX_SENSORS > 2
// @Param: EXP_DID3
// @DisplayName: Compass3 device id expected
// @Description: The expected value of COMPASS_DEV_ID3, used by arming checks. Setting this to -1 means "don't care."
// @User: Advanced
AP_GROUPINFO("EXP_DID3", 38, Compass, _state[2].expected_dev_id, -1),
#endif // HAL_COMPASS_MAX_SENSORS
// @Param: ENABLE
// @DisplayName: Enable Compass