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AP_Compass: Changed if statements to switch statement.

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This commit is contained in:
murata 2016-12-20 02:10:47 +09:00 committed by Francisco Ferreira
parent bf135aeff7
commit a2649949df
1 changed files with 30 additions and 15 deletions
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45
libraries/AP_Compass/AP_Compass.cpp
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@ -500,12 +500,13 @@ void Compass::_detect_backends(void)
#if HAL_COMPASS_DEFAULT == HAL_COMPASS_HIL
ADD_BACKEND(AP_Compass_HIL::detect(*this), nullptr, false);
#elif HAL_COMPASS_DEFAULT == HAL_COMPASS_PX4 || HAL_COMPASS_DEFAULT == HAL_COMPASS_VRBRAIN
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PX4V1 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2 ||
AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PX4V1:
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
case AP_BoardConfig::PX4_BOARD_PHMINI:
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
case AP_BoardConfig::PX4_BOARD_PIXRACER: {
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.i2c_mgr->get_device(1, HAL_COMPASS_HMC5843_I2C_ADDR),
@ -531,36 +532,50 @@ void Compass::_detect_backends(void)
ADD_BACKEND(AP_Compass_AK09916::probe(*this, hal.i2c_mgr->get_device(0, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE),
AP_Compass_AK09916::name, both_i2c_external);
}
break;
default:
break;
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK) {
switch (AP_BoardConfig::get_board_type()) {
case AP_BoardConfig::PX4_BOARD_PIXHAWK:
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_A_NAME)),
AP_Compass_LSM303D::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2) {
break;
case AP_BoardConfig::PX4_BOARD_PIXHAWK2:
ADD_BACKEND(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false);
// we run the AK8963 only on the 2nd MPU9250, which leaves the
// first MPU9250 to run without disturbance at high rate
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {
break;
case AP_BoardConfig::PX4_BOARD_PIXRACER:
ADD_BACKEND(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180_YAW_90),
AP_Compass_AK8963::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PHMINI) {
break;
case AP_BoardConfig::PX4_BOARD_PHMINI:
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_ROLL_180),
AP_Compass_AK8963::name, false);
}
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PH2SLIM) {
break;
case AP_BoardConfig::PX4_BOARD_PH2SLIM:
ADD_BACKEND(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_YAW_270),
AP_Compass_AK8963::name, false);
break;
default:
break;
}
// also add any px4 level drivers (for canbus magnetometers)
ADD_BACKEND(AP_Compass_PX4::detect(*this), nullptr, false);