diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 19:51:06 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-04-27 19:51:06 +0200 |
| commit | 8040b9b96e8f7c07aa981150c33f850096062f70 (patch) | |
| tree | 92497e6f4a8a85ab78ccf4e305f7d323dc34836c /src/drivers/hmc5883/hmc5883.cpp | |
| parent | 7ac617242da56f6f826eb7496e7689f7f36c8fa2 (diff) | |
| download | px4-firmware-8040b9b96e8f7c07aa981150c33f850096062f70.tar.gz px4-firmware-8040b9b96e8f7c07aa981150c33f850096062f70.tar.bz2 px4-firmware-8040b9b96e8f7c07aa981150c33f850096062f70.zip | |
Allowed for onboard bus to be not present
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index d71f469e9..c406a7588 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -841,6 +841,7 @@ HMC5883::collect() * 74 from all measurements centers them around zero. */ +#ifdef PX4_I2C_BUS_ONBOARD if (_bus == PX4_I2C_BUS_ONBOARD) { /* to align the sensor axes with the board, x and y need to be flipped */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; @@ -849,13 +850,16 @@ HMC5883::collect() /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; } else { +#endif /* XXX axis assignment of external sensor is yet unknown */ _reports[_next_report].x = ((report.y * _range_scale) - _scale.x_offset) * _scale.x_scale; /* flip axes and negate value for y */ _reports[_next_report].y = ((((report.x == -32768) ? 32767 : -report.x) * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ _reports[_next_report].z = ((report.z * _range_scale) - _scale.z_offset) * _scale.z_scale; +#ifdef PX4_I2C_BUS_ONBOARD } +#endif /* publish it */ orb_publish(ORB_ID(sensor_mag), _mag_topic, &_reports[_next_report]); |