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AP_Compass: added set_offsets() interface

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this will be used by Replay to prevent the need for saving parameters
This commit is contained in:
Andrew Tridgell 2014-10-15 09:16:31 +11:00
parent 6690aff305
commit b437977547
2 changed files with 16 additions and 0 deletions
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9
libraries/AP_Compass/Compass.cpp
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@ -289,6 +289,15 @@ Compass::init()
return true; return true;
} }
void
Compass::set_offsets(uint8_t i, const Vector3f &offsets)
{
// sanity check compass instance provided
if (i < COMPASS_MAX_INSTANCES) {
_offset[i].set(offsets);
}
}
void void
Compass::set_and_save_offsets(uint8_t i, const Vector3f &offsets) Compass::set_and_save_offsets(uint8_t i, const Vector3f &offsets)
{ {

7
libraries/AP_Compass/Compass.h
View File

@ -87,6 +87,13 @@ public:
/// ///
float calculate_heading(const Matrix3f &dcm_matrix) const; float calculate_heading(const Matrix3f &dcm_matrix) const;
/// Sets offset x/y/z values.
///
/// @param i compass instance
/// @param offsets Offsets to the raw mag_ values.
///
void set_offsets(uint8_t i, const Vector3f &offsets);
/// Sets and saves the compass offset x/y/z values. /// Sets and saves the compass offset x/y/z values.
/// ///
/// @param i compass instance /// @param i compass instance