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Compass_VRBrain: use instance specific orient and external

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Randy Mackay 2014-09-24 22:28:20 +09:00 committed by Andrew Tridgell
parent 85e82a0399
commit 900896977c
2 changed files with 8 additions and 6 deletions
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13
libraries/AP_Compass/AP_Compass_VRBRAIN.cpp
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@ -67,13 +67,16 @@ bool AP_Compass_VRBRAIN::init(void)
} }
// remember if the compass is external // remember if the compass is external
_is_external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0); _external[i] = (ioctl(_mag_fd[i], MAGIOCGEXTERNAL, 0) > 0);
#if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45) #if defined(CONFIG_ARCH_BOARD_VRBRAIN_V45)
//deal with situations where user has cut internal mag on VRBRAIN 4.5 //deal with situations where user has cut internal mag on VRBRAIN 4.5
//and uses only one external mag attached to the internal I2C bus //and uses only one external mag attached to the internal I2C bus
_is_external[i] = _external.load() ? _external.get() : _is_external[i]; bool external_tmp = _external[i];
if (!_external[i].load()) {
_external[i] = external_tmp;
}
#endif #endif
if (_is_external[i]) { if (_external[i]) {
hal.console->printf("Using external compass[%u]\n", (unsigned)i); hal.console->printf("Using external compass[%u]\n", (unsigned)i);
} }
_count[0] = 0; _count[0] = 0;
@ -114,9 +117,9 @@ bool AP_Compass_VRBRAIN::read(void)
// override any user setting of COMPASS_EXTERNAL // override any user setting of COMPASS_EXTERNAL
//_external.set(_is_external[0]); //_external.set(_is_external[0]);
if (_is_external[i]) { if (_external[i]) {
// add user selectable orientation // add user selectable orientation
_sum[i].rotate((enum Rotation)_orientation.get()); _sum[i].rotate((enum Rotation)_orientation[i].get());
} else { } else {
// add in board orientation from AHRS // add in board orientation from AHRS
_sum[i].rotate(_board_orientation); _sum[i].rotate(_board_orientation);

1
libraries/AP_Compass/AP_Compass_VRBRAIN.h
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@ -28,7 +28,6 @@ private:
Vector3f _sum[COMPASS_MAX_INSTANCES]; Vector3f _sum[COMPASS_MAX_INSTANCES];
uint32_t _count[COMPASS_MAX_INSTANCES]; uint32_t _count[COMPASS_MAX_INSTANCES];
uint64_t _last_timestamp[COMPASS_MAX_INSTANCES]; uint64_t _last_timestamp[COMPASS_MAX_INSTANCES];
bool _is_external[COMPASS_MAX_INSTANCES];
}; };
#endif // AP_Compass_VRBRAIN_H #endif // AP_Compass_VRBRAIN_H