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AP_Compass: rename variable for more buses

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"all_external" reflects better the fact that we can have more than 2
buses (and now we are using the foreach macro).
This commit is contained in:
Lucas De Marchi 2018-08-06 23:33:14 -07:00 committed by Andrew Tridgell
parent de535dc573
commit cd9b08dbae
1 changed files with 9 additions and 9 deletions
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18
libraries/AP_Compass/AP_Compass.cpp
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@ -583,7 +583,7 @@ bool Compass::_have_i2c_driver(uint8_t bus, uint8_t address) const
*/
void Compass::_probe_external_i2c_compasses(void)
{
bool both_i2c_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
bool all_external = (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXHAWK2);
// external i2c bus
FOREACH_I2C_EXTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
@ -595,7 +595,7 @@ void Compass::_probe_external_i2c_compasses(void)
// internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_HMC5883, AP_Compass_HMC5843::probe(GET_I2C_DEVICE(i, HAL_COMPASS_HMC5843_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_ROLL_180:ROTATION_YAW_270));
all_external, all_external?ROTATION_ROLL_180:ROTATION_YAW_270));
}
}
@ -608,8 +608,8 @@ void Compass::_probe_external_i2c_compasses(void)
//internal i2c bus
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_QMC5883, AP_Compass_QMC5883L::probe(GET_I2C_DEVICE(i, HAL_COMPASS_QMC5883L_I2C_ADDR),
both_i2c_external,
both_i2c_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
all_external,
all_external?HAL_COMPASS_QMC5883L_ORIENTATION_EXTERNAL:HAL_COMPASS_QMC5883L_ORIENTATION_INTERNAL));
}
#if !HAL_MINIMIZE_FEATURES
@ -623,19 +623,19 @@ void Compass::_probe_external_i2c_compasses(void)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_ICM20948, AP_Compass_AK09916::probe_ICM20948(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
GET_I2C_DEVICE(i, HAL_COMPASS_ICM20948_I2C_ADDR),
both_i2c_external, ROTATION_PITCH_180_YAW_90));
all_external, ROTATION_PITCH_180_YAW_90));
}
// lis3mdl on bus 0 with default address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE));
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
}
// lis3mdl on bus 0 with alternate address
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_LIS3MDL, AP_Compass_LIS3MDL::probe(GET_I2C_DEVICE(i, HAL_COMPASS_LIS3MDL_I2C_ADDR2),
both_i2c_external, both_i2c_external?ROTATION_YAW_90:ROTATION_NONE));
all_external, all_external?ROTATION_YAW_90:ROTATION_NONE));
}
// external lis3mdl on bus 1 with default address
@ -657,7 +657,7 @@ void Compass::_probe_external_i2c_compasses(void)
}
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_AK09916, AP_Compass_AK09916::probe(GET_I2C_DEVICE(i, HAL_COMPASS_AK09916_I2C_ADDR),
both_i2c_external, both_i2c_external?ROTATION_YAW_270:ROTATION_NONE));
all_external, all_external?ROTATION_YAW_270:ROTATION_NONE));
}
// IST8310 on external and internal bus
@ -677,7 +677,7 @@ void Compass::_probe_external_i2c_compasses(void)
FOREACH_I2C_INTERNAL(i) {
ADD_BACKEND(DRIVER_IST8310, AP_Compass_IST8310::probe(GET_I2C_DEVICE(i, HAL_COMPASS_IST8310_I2C_ADDR),
both_i2c_external, default_rotation));
all_external, default_rotation));
}
}
#endif // HAL_MINIMIZE_FEATURES