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Merge branch 'public-export-build' into fmuv2_bringup

This commit is contained in:
Lorenz Meier 2013-04-27 19:31:12 +02:00
parent f03ba89557 7ac617242d
commit ae1f438a3a
3 changed files with 30 additions and 12 deletions
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6
apps/drivers/device/i2c.h
View File

@ -60,6 +60,11 @@ protected:
*/ */
unsigned _retries; unsigned _retries;
/**
* The I2C bus number the device is attached to.
*/
int _bus;
/** /**
* @ Constructor * @ Constructor
* *
@ -123,7 +128,6 @@ protected:
} }
private: private:
int _bus;
uint16_t _address; uint16_t _address;
uint32_t _frequency; uint32_t _frequency;
struct i2c_dev_s *_dev; struct i2c_dev_s *_dev;

34
src/drivers/hmc5883/hmc5883.cpp
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@ -1,6 +1,6 @@
/**************************************************************************** /****************************************************************************
* *
* Copyright (C) 2012 PX4 Development Team. All rights reserved. * Copyright (c) 2012, 2013 PX4 Development Team. All rights reserved.
* *
* Redistribution and use in source and binary forms, with or without * Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions * modification, are permitted provided that the following conditions
@ -75,7 +75,6 @@
* HMC5883 internal constants and data structures. * HMC5883 internal constants and data structures.
*/ */
#define HMC5883L_BUS PX4_I2C_BUS_ONBOARD
#define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883 #define HMC5883L_ADDRESS PX4_I2C_OBDEV_HMC5883
/* Max measurement rate is 160Hz */ /* Max measurement rate is 160Hz */
@ -842,12 +841,21 @@ HMC5883::collect()
* 74 from all measurements centers them around zero. * 74 from all measurements centers them around zero.
*/ */
/* to align the sensor axes with the board, x and y need to be flipped */ if (_bus == PX4_I2C_BUS_ONBOARD) {
_reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; /* to align the sensor axes with the board, x and y need to be flipped */
/* flip axes and negate value for y */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale;
_reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; /* flip axes and negate value for y */
/* z remains z */ _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale;
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; /* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
} else {
/* XXX axis assignment of external sensor is yet unknown */
_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;
/* z remains z */
_reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale;
}
/* publish it */ /* publish it */
orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]);
@ -1211,8 +1219,14 @@ start()
if (g_dev != nullptr) if (g_dev != nullptr)
errx(1, "already started"); errx(1, "already started");
/* create the driver */ /* create the driver, attempt expansion bus first */
g_dev = new HMC5883(HMC5883L_BUS); g_dev = new HMC5883(PX4_I2C_BUS_EXPANSION);
#ifdef PX4_I2C_BUS_ONBOARD
/* if this failed, attempt onboard sensor */
if (g_dev == nullptr)
g_dev = new HMC5883(PX4_I2C_BUS_ONBOARD);
#endif
if (g_dev == nullptr) if (g_dev == nullptr)
goto fail; goto fail;

2
src/modules/multirotor_att_control/module.mk
View File

@ -32,7 +32,7 @@
############################################################################ ############################################################################
# #
# Makefile to build the multirotor attitude controller # Build multirotor attitude controller
# #
MODULE_COMMAND = multirotor_att_control MODULE_COMMAND = multirotor_att_control