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Prevent internal error from compass custom rotation #14315

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May 21, 2020
Merged

Prevent internal error from compass custom rotation #14315

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4 changes: 3 additions & 1 deletion libraries/AP_Compass/AP_Compass.h
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Original file line number Diff line number Diff line change
Expand Up @@ -221,7 +221,9 @@ friend class AP_Compass_Backend;
// set overall board orientation
void set_board_orientation(enum Rotation orientation, Matrix3f* custom_rotation = nullptr) {
_board_orientation = orientation;
_custom_rotation = custom_rotation;
if (custom_rotation) {
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why the check? if it's nullptr, then don't we want that set? eg. if it changes

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_custom_rotation is either used for a board custom rotation (internal) or for a compass custom rotation (external). set_board_orientation() is called unilaterally after set_rotation(). So what happens is you select a custom rotation for the compass, it gets setup in set_rotation() and then it gets zeroed out in set_board_orientation(). The other way to do this would be simply to have two variables - one for the board and one for the compass - but they are never used together and it would mean changing all the sites where it is checked.

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Urrg, re-reviewing this I think I am wrong - the compass rotation is stored in the front-end so it's perfectly possible for there to be a custom board orientation and and a custom external compass orientation at the same time. So we need two slots (which we effectively had before the change to save the 36 bytes of flash).

_custom_rotation = custom_rotation;
}
}

/// Set the motor compensation type
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1 change: 1 addition & 0 deletions libraries/AP_Compass/AP_Compass_SITL.cpp
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Expand Up @@ -24,6 +24,7 @@ AP_Compass_SITL::AP_Compass_SITL()

// save so the compass always comes up configured in SITL
save_dev_id(_compass_instance[_num_compass]);
set_rotation(instance, ROTATION_NONE);
_num_compass++;
}
}
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