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Code Issues Wiki Activity

Split gyro device out of gyro sensor struct

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This commit is contained in:
Martin Budden 2017-02-05 22:24:13 +00:00
parent 9a8124ffc4
commit f2b423525d
16 changed files with 168 additions and 77 deletions
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17
src/main/sensors/compass.c
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@ -44,6 +44,7 @@
#include "hardware_revision.h"
#endif
magDev_t magDev;
mag_t mag; // mag access functions
#ifdef MAG
@ -146,17 +147,25 @@ retry:
return true;
}
void compassInit(void)
bool compassInit(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
// calculate magnetic declination
mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
if (!compassDetect(&magDev, compassConfig()->mag_hardware)) {
return false;
}
const int16_t deg = compassConfig()->mag_declination / 100;
const int16_t min = compassConfig()->mag_declination % 100;
mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
LED1_ON;
mag.dev.init();
magDev.init();
LED1_OFF;
magInit = 1;
if (compassConfig()->mag_align != ALIGN_DEFAULT) {
magDev.magAlign = compassConfig()->mag_align;
}
return true;
}
void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
@ -165,11 +174,11 @@ void compassUpdate(uint32_t currentTime, flightDynamicsTrims_t *magZero)
static flightDynamicsTrims_t magZeroTempMin;
static flightDynamicsTrims_t magZeroTempMax;
mag.dev.read(magADCRaw);
magDev.read(magADCRaw);
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
mag.magADC[axis] = magADCRaw[axis];
}
alignSensors(mag.magADC, mag.dev.magAlign);
alignSensors(mag.magADC, magDev.magAlign);
if (STATE(CALIBRATE_MAG)) {
tCal = currentTime;