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Merge pull request #9753 from mikeller/remove_mag_declination 

Removed the unused setting 'mag_declination'.
This commit is contained in:
Michael Keller 2020-06-22 00:20:33 +12:00 committed by GitHub
parent f18470b6f0 b7ee04127d
commit 12f02a1f19
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GPG Key ID: 4AEE18F83AFDEB23
6 changed files with 5 additions and 27 deletions
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1
src/main/cli/settings.c
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@ -686,7 +686,6 @@ const clivalue_t valueTable[] = {
{ "mag_i2c_address", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, I2C_ADDR7_MAX }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_i2c_address) },
{ "mag_spi_device", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, SPIDEV_COUNT }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_spi_device) },
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_MAG_HARDWARE }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_hardware) },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, .config.minmax = { -18000, 18000 }, PG_COMPASS_CONFIG, offsetof(compassConfig_t, mag_declination) },
{ "mag_calibration", VAR_INT16 | MASTER_VALUE | MODE_ARRAY, .config.array.length = XYZ_AXIS_COUNT, PG_COMPASS_CONFIG, offsetof(compassConfig_t, magZero.raw) },
#endif

12
src/main/msp/msp.c
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@ -1321,12 +1321,6 @@ static bool mspProcessOutCommand(int16_t cmdMSP, sbuf_t *dst)
#endif
break;
#ifdef USE_MAG
case MSP_COMPASS_CONFIG:
sbufWriteU16(dst, compassConfig()->mag_declination / 10);
break;
#endif
#if defined(USE_ESC_SENSOR)
// Deprecated in favor of MSP_MOTOR_TELEMETY as of API version 1.42
case MSP_ESC_SENSOR_DATA:
@ -2375,12 +2369,6 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
#endif
#endif
#ifdef USE_MAG
case MSP_SET_COMPASS_CONFIG:
compassConfigMutable()->mag_declination = sbufReadU16(src) * 10;
break;
#endif
case MSP_SET_MOTOR:
for (int i = 0; i < getMotorCount(); i++) {
motor_disarmed[i] = motorConvertFromExternal(sbufReadU16(src));

4
src/main/msp/msp_protocol.h
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@ -277,7 +277,7 @@
#define MSP_BATTERY_STATE 130 //out message Connected/Disconnected, Voltage, Current Used
#define MSP_MOTOR_CONFIG 131 //out message Motor configuration (min/max throttle, etc)
#define MSP_GPS_CONFIG 132 //out message GPS configuration
#define MSP_COMPASS_CONFIG 133 //out message Compass configuration
//DEPRECATED - #define MSP_COMPASS_CONFIG 133 //out message Compass configuration
#define MSP_ESC_SENSOR_DATA 134 //out message Extra ESC data from 32-Bit ESCs (Temperature, RPM)
#define MSP_GPS_RESCUE 135 //out message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
@ -309,7 +309,7 @@
#define MSP_SET_LED_STRIP_MODECOLOR 221 //in message Set LED strip mode_color settings
#define MSP_SET_MOTOR_CONFIG 222 //out message Motor configuration (min/max throttle, etc)
#define MSP_SET_GPS_CONFIG 223 //out message GPS configuration
#define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
//DEPRECATED - #define MSP_SET_COMPASS_CONFIG 224 //out message Compass configuration
#define MSP_SET_GPS_RESCUE 225 //in message GPS Rescues's angle, initialAltitude, descentDistance, rescueGroundSpeed, sanityChecks and minSats
#define MSP_SET_GPS_RESCUE_PIDS 226 //in message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_SET_VTXTABLE_BAND 227 //in message set vtxTable band/channel data (one band at a time)

8
src/main/sensors/compass.c
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@ -63,13 +63,12 @@ static flightDynamicsTrims_t magZeroTempMax;
magDev_t magDev;
mag_t mag; // mag access functions
PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 2);
PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 3);
void pgResetFn_compassConfig(compassConfig_t *compassConfig)
{
compassConfig->mag_alignment = ALIGN_DEFAULT;
memset(&compassConfig->mag_customAlignment, 0x00, sizeof(compassConfig->mag_customAlignment));
compassConfig->mag_declination = 0;
compassConfig->mag_hardware = MAG_DEFAULT;
// Generate a reasonable default for backward compatibility
@ -289,8 +288,6 @@ bool compassDetect(magDev_t *dev, sensor_align_e *alignment)
bool compassInit(void)
{
// initialize and calibration. turn on led during mag calibration (calibration routine blinks it)
// calculate magnetic declination
mag.magneticDeclination = 0.0f; // TODO investigate if this is actually needed if there is no mag sensor or if the value stored in the config should be used.
sensor_align_e alignment;
@ -298,9 +295,6 @@ bool compassInit(void)
return false;
}
const int16_t deg = compassConfig()->mag_declination / 100;
const int16_t min = compassConfig()->mag_declination % 100;
mag.magneticDeclination = (deg + ((float)min * (1.0f / 60.0f))) * 10; // heading is in 0.1deg units
LED1_ON;
magDev.init(&magDev);
LED1_OFF;

3
src/main/sensors/compass.h
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@ -41,14 +41,11 @@ typedef enum {
typedef struct mag_s {
float magADC[XYZ_AXIS_COUNT];
float magneticDeclination;
} mag_t;
extern mag_t mag;
typedef struct compassConfig_s {
int16_t mag_declination; // Get your magnetic decliniation from here : http://magnetic-declination.com/
// For example, -6deg 37min, = -637 Japan, format is [sign]dddmm (degreesminutes) default is zero.
uint8_t mag_alignment; // mag alignment
uint8_t mag_hardware; // Which mag hardware to use on boards with more than one device
uint8_t mag_bustype;

4
src/main/target/COLIBRI_RACE/i2c_bst.c
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@ -370,7 +370,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
bstWrite8(rxConfig()->rssi_channel);
bstWrite8(0);
bstWrite16(compassConfig()->mag_declination / 10);
bstWrite16(0); // was mag_declination / 10
bstWrite8(voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale);
bstWrite8((batteryConfig()->vbatmincellvoltage + 5) / 10);
@ -518,7 +518,7 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
rxConfigMutable()->rssi_channel = bstRead8();
bstRead8();
compassConfigMutable()->mag_declination = bstRead16() * 10;
bstRead16(); // was mag_declination / 10
voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = bstRead8(); // actual vbatscale as intended
batteryConfigMutable()->vbatmincellvoltage = bstRead8() * 10; // vbatlevel_warn1 in MWC2.3 GUI