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AP_Compass: move param to table per instance #19123

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merged 20 commits into from
Nov 29, 2021
Merged

AP_Compass: move param to table per instance #19123

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00ec8b7
Tracker: remove compass params underscore
IamPete1 Nov 2, 2021
7b82224
Copter: remove compass params underscore
IamPete1 Nov 2, 2021
46213f5
Plane: remove compass params underscore
IamPete1 Nov 2, 2021
bf15706
Sub: remove compass params underscore
IamPete1 Nov 2, 2021
cad13b6
Blimp: remove compass params underscore
IamPete1 Nov 2, 2021
b8c6069
Rover: remove compass params underscore
IamPete1 Nov 2, 2021
9fb7f7a
Periph: remove compass params underscore
IamPete1 Nov 2, 2021
21dfd22
Replay: remove compass params underscore
IamPete1 Nov 2, 2021
28390e0
AP_Compass: move instance params to shared table
IamPete1 Nov 2, 2021
44cda4c
AP_Compass: SITL: use new scale param
IamPete1 Nov 2, 2021
0a65446
hwdef: use new compass param names in defualts.parm
IamPete1 Nov 2, 2021
59b7000
AP_HAL_ESP32: use new compass param names
IamPete1 Nov 2, 2021
9e24718
SITL: exmaples: use new compass params
IamPete1 Nov 2, 2021
16a694a
Tools: loganalyzer: use new compass params
IamPete1 Nov 2, 2021
5eac820
AP_NavEKF2: update compass param discription
IamPete1 Nov 2, 2021
ab64d30
AP_NavEKF3: update compass param discription
IamPete1 Nov 2, 2021
55f082b
AP_Compass: add param conversion
IamPete1 Nov 2, 2021
a73d208
Tools: autotest: defaults: use new compass params
IamPete1 Nov 2, 2021
025046e
Tools: autotest: common and arducopter: use new compass params
IamPete1 Nov 2, 2021
7010937
AP_Compass: reinstate old param descriptions
IamPete1 Nov 3, 2021
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4 changes: 2 additions & 2 deletions AntennaTracker/Parameters.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -218,9 +218,9 @@ const AP_Param::Info Tracker::var_info[] = {
// @Path: ../libraries/AP_Baro/AP_Baro.cpp
GOBJECT(barometer, "BARO", AP_Baro),

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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4 changes: 2 additions & 2 deletions ArduCopter/Parameters.cpp
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Expand Up @@ -502,9 +502,9 @@ const AP_Param::Info Copter::var_info[] = {
GOBJECT(input_manager, "IM_", AC_InputManager_Heli),
#endif

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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4 changes: 2 additions & 2 deletions ArduPlane/Parameters.cpp
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Expand Up @@ -821,9 +821,9 @@ const AP_Param::Info Plane::var_info[] = {

// variables not in the g class which contain EEPROM saved variables

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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4 changes: 2 additions & 2 deletions ArduSub/Parameters.cpp
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Expand Up @@ -419,9 +419,9 @@ const AP_Param::Info Sub::var_info[] = {
// @Path: ../libraries/AP_Relay/AP_Relay.cpp
GOBJECT(relay, "RELAY_", AP_Relay),

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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4 changes: 2 additions & 2 deletions Blimp/Parameters.cpp
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Expand Up @@ -317,9 +317,9 @@ const AP_Param::Info Blimp::var_info[] = {

// variables not in the g class which contain EEPROM saved variables

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: INS_
// @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
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4 changes: 2 additions & 2 deletions Rover/Parameters.cpp
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Expand Up @@ -218,9 +218,9 @@ const AP_Param::Info Rover::var_info[] = {

// variables not in the g class which contain EEPROM saved variables

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: SCHED_
// @Path: ../libraries/AP_Scheduler/AP_Scheduler.cpp
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4 changes: 2 additions & 2 deletions Tools/AP_Periph/Parameters.cpp
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Expand Up @@ -181,9 +181,9 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
#endif

#ifdef HAL_PERIPH_ENABLE_MAG
// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),
#endif

#ifdef HAL_PERIPH_ENABLE_BARO
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6 changes: 3 additions & 3 deletions Tools/LogAnalyzer/tests/TestCompass.py
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Expand Up @@ -30,9 +30,9 @@ def WARN():
warnOffset = 300
failOffset = 500
param_offsets = (
logdata.parameters["COMPASS_OFS_X"],
logdata.parameters["COMPASS_OFS_Y"],
logdata.parameters["COMPASS_OFS_Z"]
logdata.parameters["COMPASS1_OFS_X"],
logdata.parameters["COMPASS1_OFS_Y"],
logdata.parameters["COMPASS1_OFS_Z"]
)

if vec_len(param_offsets) > failOffset:
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4 changes: 2 additions & 2 deletions Tools/Replay/Replay.cpp
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Expand Up @@ -66,9 +66,9 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
// @Path: ../libraries/AP_NavEKF2/AP_NavEKF2.cpp
GOBJECTN(ekf2, NavEKF2, "EK2_", NavEKF2),

// @Group: COMPASS_
// @Group: COMPASS
// @Path: ../libraries/AP_Compass/AP_Compass.cpp
GOBJECT(compass, "COMPASS_", Compass),
GOBJECT(compass, "COMPASS", Compass),

// @Group: LOG
// @Path: ../libraries/AP_Logger/AP_Logger.cpp
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6 changes: 3 additions & 3 deletions Tools/autotest/arducopter.py
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Expand Up @@ -6813,9 +6813,9 @@ def test_ekf_source(self):
self.start_subtest("missing required yaw source")
self.set_parameters({
"EK3_SRC3_YAW": 3, # External Yaw with Compass Fallback
"COMPASS_USE": 0,
"COMPASS_USE2": 0,
"COMPASS_USE3": 0,
"COMPASS1_USE": 0,
"COMPASS2_USE": 0,
"COMPASS3_USE": 0,
})
self.assert_prearm_failure("EK3 sources require Compass")
self.context_pop()
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