Rover: Update compass to the new interface

APMrover2/APMrover2.pde

@@ -204,19 +204,7 @@ static AP_Int8		*modes = &g.mode1;
 
 static AP_Baro barometer;
 
-#if CONFIG_COMPASS == HAL_COMPASS_PX4
-static AP_Compass_PX4 compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_VRBRAIN
-static AP_Compass_VRBRAIN compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_HMC5843
-static AP_Compass_HMC5843 compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_HIL
-static AP_Compass_HIL compass;
-#elif CONFIG_COMPASS == HAL_COMPASS_AK8963
-static AP_Compass_AK8963_MPU9250 compass;
-#else
- #error Unrecognized CONFIG_COMPASS setting
-#endif
+Compass compass;
 
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 AP_ADC_ADS7844 apm1_adc;

APMrover2/config.h

@@ -51,9 +51,6 @@
 //////////////////////////////////////////////////////////////////////////////
 // sensor types
 
-#define CONFIG_BARO     HAL_BARO_DEFAULT
-#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
-
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 
@@ -61,13 +58,6 @@
  #define HIL_MODE        HIL_MODE_DISABLED
 #endif
 
-#if HIL_MODE != HIL_MODE_DISABLED       // we are in HIL mode
- #undef CONFIG_BARO
- #define CONFIG_BARO HAL_BARO_HIL
- #undef  CONFIG_COMPASS
- #define CONFIG_COMPASS HAL_COMPASS_HIL
-#endif
-
 #if CONFIG_HAL_BOARD == HAL_BOARD_APM1
 # define BATTERY_PIN_1	  0
 # define CURRENT_PIN_1	  1

APMrover2/setup.pde

@@ -506,23 +506,6 @@ static void report_compass()
 	//print_blanks(2);
 	cliSerial->printf_P(PSTR("Compass: "));
 
-    switch (compass.product_id) {
-    case AP_COMPASS_TYPE_HMC5883L:
-        cliSerial->println_P(PSTR("HMC5883L"));
-        break;
-    case AP_COMPASS_TYPE_HMC5843:
-        cliSerial->println_P(PSTR("HMC5843"));
-        break;
-    case AP_COMPASS_TYPE_HIL:
-        cliSerial->println_P(PSTR("HIL"));
-        break;
-    default:
-        cliSerial->println_P(PSTR("??"));
-        break;
-    }
-
-	print_divider();
-
 	print_enabled(g.compass_enabled);
 
 	// mag declination