APM_Compass - added InitialiseWireLib parameter to Init function. This allows us to skip the Wire.begin which should only be called once.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@883 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/APM_Compass/APM_Compass.cpp

@@ -66,13 +66,14 @@ APM_Compass_Class::APM_Compass_Class() : orientation(0), declination(0.0)
 }
 
 // Public Methods //////////////////////////////////////////////////////////////
-bool APM_Compass_Class::Init(void)
+bool APM_Compass_Class::Init(int initialiseWireLib)
 {
   unsigned long currentTime = millis();  // record current time
   int numAttempts = 0;
   int success = 0;
   
-  Wire.begin();
+  if( initialiseWireLib != 0 )
+      Wire.begin();
   
   delay(10);
   
@@ -245,7 +246,7 @@ APM_Compass_HIL_Class::APM_Compass_HIL_Class() : orientation(0), declination(0.0
 }
 
 // Public Methods //////////////////////////////////////////////////////////////
-bool APM_Compass_HIL_Class::Init(void)
+bool APM_Compass_HIL_Class::Init(int initialiseWireLib)
 {
   unsigned long currentTime = millis();  // record current time
   int numAttempts = 0;

libraries/APM_Compass/APM_Compass.h

@@ -75,7 +75,7 @@ class APM_Compass_Class
 	unsigned long lastUpdate;	
 	
 	APM_Compass_Class();  // Constructor
-	bool Init();
+	bool Init(int initialiseWireLib = 1);
 	void Read();
 	void Calculate(float roll, float pitch);
 	void SetOrientation(const Matrix3f &rotationMatrix);
@@ -101,7 +101,7 @@ class APM_Compass_HIL_Class
 	unsigned long lastUpdate;	
 	
 	APM_Compass_HIL_Class();  // Constructor
-	bool Init();
+	bool Init(int initialiseWireLib = 1);
 	void Read();
 	void Calculate(float roll, float pitch);
 	void SetOrientation(const Matrix3f &rotationMatrix);