[ABI] special ID to DISABLE callback #1260
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This makes it easier to explictitly not use an ABI binding by only defining the ID to ABI_DISABLE (zero) without further change of the code. The idea is that you can use it to e.g. disable a mag callback for one AHRS without globally setting USE_MAGNETOMETER to FALSE.
This makes it easy to use a different mag than the one on the IMU, or to disable the mag callback alltogether. However the mag still has to have the same alignment as the IMU (still same BODY_TO_IMU used). Towards solving #197
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I think it is a good idea. |
flixr
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Jul 25, 2015
[ABI] special ID to DISABLE callback - change ABI_BROADCAST from 0 to 255 - add ABI_DISABLE with id 0 - separate ABI IDs for binding mag message This makes it easier to explictitly not use an ABI binding by only defining the ID to ABI_DISABLE (zero) without further change of the code. The idea is that you can use it to e.g. disable a mag callback for one AHRS without globally setting USE_MAGNETOMETER to FALSE. Also make it easy to use a different mag than the one on the IMU. However the mag still has to have the same alignment as the IMU (still same BODY_TO_IMU used).
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This makes it easier to explictitly not use an ABI binding by only defining the ID to ABI_DISABLE (zero) without further change of the code.
The idea is that you can use it to e.g. disable a mag callback for one AHRS without globally setting USE_MAGNETOMETER to FALSE.
Also make it easy to use a different mag than the one on the IMU.
However the mag still has to have the same alignment as the IMU (still same BODY_TO_IMU used).