From 99a55f9379b52fda446dcc94c8a924c25c37a88f Mon Sep 17 00:00:00 2001 From: Gustavo Jose de Sousa Date: Mon, 28 Sep 2015 16:56:49 -0300 Subject: [PATCH] AP_Compass: use compass get_{field,offsets}() functions Both functions are equivalent, so we're going to simply use get_{field,offsets}() instead of get_{field,offsets}_milligauss(). --- libraries/AP_Compass/Compass.cpp | 8 ++++---- .../examples/AP_Compass_test/AP_Compass_test.cpp | 2 +- 2 files changed, 5 insertions(+), 5 deletions(-) diff --git a/libraries/AP_Compass/Compass.cpp b/libraries/AP_Compass/Compass.cpp index 0345889e57..8eb1306911 100644 --- a/libraries/AP_Compass/Compass.cpp +++ b/libraries/AP_Compass/Compass.cpp @@ -635,7 +635,7 @@ Compass::calculate_heading(const Matrix3f &dcm_matrix) const float cos_pitch_sq = 1.0f-(dcm_matrix.c.x*dcm_matrix.c.x); // Tilt compensated magnetic field Y component: - const Vector3f &field = get_field_milligauss(); + const Vector3f &field = get_field(); float headY = field.y * dcm_matrix.c.z - field.z * dcm_matrix.c.y; @@ -676,7 +676,7 @@ bool Compass::configured(uint8_t i) } // exit immediately if all offsets (mG) are zero - if (is_zero(get_offsets_milligauss(i).length())) { + if (is_zero(get_offsets(i).length())) { return false; } @@ -784,7 +784,7 @@ void Compass::motor_compensation_type(const uint8_t comp_type) bool Compass::consistent() const { - Vector3f primary_mag_field = get_field_milligauss(); + Vector3f primary_mag_field = get_field(); Vector3f primary_mag_field_norm; if (!primary_mag_field.is_zero()) { @@ -804,7 +804,7 @@ bool Compass::consistent() const for (uint8_t i=0; i