Plane: Update compass to the new interface

ArduPlane/ArduPlane.pde

@@ -194,19 +194,7 @@ static AP_Int8          *flight_modes = &g.flight_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;

ArduPlane/config.h

@@ -54,12 +54,6 @@
 #error CONFIG_APM_HARDWARE option is depreated! use CONFIG_HAL_BOARD instead.
 #endif
 
-//////////////////////////////////////////////////////////////////////////////
-// sensor types
-
-#define CONFIG_BARO     HAL_BARO_DEFAULT
-#define CONFIG_COMPASS  HAL_COMPASS_DEFAULT
-
 //////////////////////////////////////////////////////////////////////////////
 // HIL_MODE                                 OPTIONAL
 

ArduPlane/setup.pde

@@ -342,35 +342,7 @@ static void report_ins()
 
 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;
-    case AP_COMPASS_TYPE_PX4:
-        cliSerial->println_P(PSTR("PX4"));
-        break;
-    case AP_COMPASS_TYPE_VRBRAIN:
-        cliSerial->println_P(PSTR("VRBRAIN"));
-        break;
-    case AP_COMPASS_TYPE_AK8963_MPU9250:
-        cliSerial->println_P(PSTR("AK8963_MPU9250"));
-        break;
-    default:
-        cliSerial->println_P(PSTR("(unknown)"));
-        break;
-    }
-
-    print_divider();
-
+    cliSerial->print_P(PSTR("Compass: "));
     print_enabled(g.compass_enabled);
 
     Vector3f offsets = compass.get_offsets();