From 28d3d775a46f927a922f5c10134573b3e0cc7709 Mon Sep 17 00:00:00 2001 From: Lucas De Marchi Date: Tue, 21 Jul 2015 11:30:01 -0300 Subject: [PATCH] AP_Compass: AK8963: remove resolution member We only use the highest one and there's no intention to support the 14bits one. Just use the define rather than saving it as a member. --- libraries/AP_Compass/AP_Compass_AK8963.cpp | 5 ++--- libraries/AP_Compass/AP_Compass_AK8963.h | 1 - 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/libraries/AP_Compass/AP_Compass_AK8963.cpp b/libraries/AP_Compass/AP_Compass_AK8963.cpp index 637cffaedc..558ad26d95 100644 --- a/libraries/AP_Compass/AP_Compass_AK8963.cpp +++ b/libraries/AP_Compass/AP_Compass_AK8963.cpp @@ -120,7 +120,6 @@ AP_Compass_AK8963::AP_Compass_AK8963(Compass &compass, AP_AK8963_SerialBus *bus) { _mag_x_accum =_mag_y_accum = _mag_z_accum = 0; _accum_count = 0; - _magnetometer_adc_resolution = AK8963_16BIT_ADC; } AP_Compass_Backend *AP_Compass_AK8963::detect_mpu9250(Compass &compass) @@ -294,7 +293,7 @@ bool AP_Compass_AK8963::_check_id() } bool AP_Compass_AK8963::_configure() { - _bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | _magnetometer_adc_resolution); + _bus->register_write(AK8963_CNTL1, AK8963_CONTINUOUS_MODE2 | AK8963_16BIT_ADC); return true; } @@ -310,7 +309,7 @@ bool AP_Compass_AK8963::_calibrate() uint8_t cntl1 = _bus->register_read(AK8963_CNTL1); /* Enable FUSE-mode in order to be able to read calibration data */ - _bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | _magnetometer_adc_resolution); + _bus->register_write(AK8963_CNTL1, AK8963_FUSE_MODE | AK8963_16BIT_ADC); uint8_t response[3]; _bus->register_read(AK8963_ASAX, response, 3); diff --git a/libraries/AP_Compass/AP_Compass_AK8963.h b/libraries/AP_Compass/AP_Compass_AK8963.h index 389f204bab..ca6dbc7dcb 100644 --- a/libraries/AP_Compass/AP_Compass_AK8963.h +++ b/libraries/AP_Compass/AP_Compass_AK8963.h @@ -77,7 +77,6 @@ private: uint32_t _accum_count; bool _initialized; - uint8_t _magnetometer_adc_resolution; uint32_t _last_update_timestamp; uint32_t _last_accum_time;