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hmc5883: add perf count, and removed unnecessary checks for -32768 

we've already checked that the absolute value is <= 2048
This commit is contained in:
Andrew Tridgell 2013-09-08 21:42:00 +10:00 committed by Lorenz Meier
parent 1f19a27e3c
commit 04f8e338b6
1 changed files with 6 additions and 4 deletions
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10
src/drivers/hmc5883/hmc5883.cpp
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@ -842,8 +842,10 @@ HMC5883::collect()
*/
if ((abs(report.x) > 2048) ||
(abs(report.y) > 2048) ||
(abs(report.z) > 2048))
(abs(report.z) > 2048)) {
perf_count(_comms_errors);
goto out;
}
/*
* RAW outputs
@ -852,7 +854,7 @@ HMC5883::collect()
* and y needs to be negated
*/
_reports[_next_report].x_raw = report.y;
_reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x);
_reports[_next_report].y_raw = -report.x;
/* z remains z */
_reports[_next_report].z_raw = report.z;
@ -878,14 +880,14 @@ HMC5883::collect()
/* to align the sensor axes with the board, x and y need to be flipped */
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
_reports[_next_report].y = ((-report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
#endif
/* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down,
* therefore switch x and y and invert y */
_reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale;
_reports[_next_report].x = ((-report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
/* flip axes and negate value for y */
_reports[_next_report].y = ((report.x * _range_scale) - _scale.y_offset) * _scale.y_scale;
/* z remains z */