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AP_Compass: AP_Compass_test: code enhancements

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- Use panic() instead of looping forever.
- Readability improvement with the use of MAX() and MIN().
This commit is contained in:
Gustavo Jose de Sousa 2016-01-28 17:38:13 +00:00 committed by Lucas De Marchi
parent a61f9855d3
commit e5de4f2348
1 changed files with 7 additions and 21 deletions
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28
libraries/AP_Compass/examples/AP_Compass_test/AP_Compass_test.cpp
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@ -16,9 +16,7 @@ void setup() {
hal.console->println("Compass library test"); hal.console->println("Compass library test");
if (!compass.init()) { if (!compass.init()) {
hal.console->println("compass initialisation failed!"); AP_HAL::panic("compass initialisation failed!");
while (1)
;
} }
hal.console->printf("init done - %u compasses detected\n", compass.get_count()); hal.console->printf("init done - %u compasses detected\n", compass.get_count());
@ -64,26 +62,14 @@ void loop()
const Vector3f &mag = compass.get_field(i); const Vector3f &mag = compass.get_field(i);
// capture min // capture min
if (mag.x < min[i][0]) { min[i][0] = MIN(mag.x, min[i][0]);
min[i][0] = mag.x; min[i][1] = MIN(mag.y, min[i][1]);
} min[i][2] = MIN(mag.z, min[i][2]);
if (mag.y < min[i][1]) {
min[i][1] = mag.y;
}
if (mag.z < min[i][2]) {
min[i][2] = mag.z;
}
// capture max // capture max
if (mag.x > max[i][0]) { max[i][0] = MAX(mag.x, max[i][0]);
max[i][0] = mag.x; max[i][1] = MAX(mag.y, max[i][1]);
} max[i][2] = MAX(mag.z, max[i][2]);
if (mag.y > max[i][1]) {
max[i][1] = mag.y;
}
if (mag.z > max[i][2]) {
max[i][2] = mag.z;
}
// calculate offsets // calculate offsets
offset[i][0] = -(max[i][0] + min[i][0]) / 2; offset[i][0] = -(max[i][0] + min[i][0]) / 2;