diff options
| author | Andrew Tridgell <tridge@samba.org> | 2013-09-08 21:42:00 +1000 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-09-12 00:51:13 +0200 |
| commit | 04f8e338b682d0f72f00ad12f22b5071a8f6bd18 (patch) | |
| tree | ae5d60facf20383b3c8f87391007e7aac69b0de0 /src/drivers/hmc5883/hmc5883.cpp | |
| parent | 1f19a27e3cd5d0686dd65ecad6a171d025058b7c (diff) | |
| download | px4-firmware-04f8e338b682d0f72f00ad12f22b5071a8f6bd18.tar.gz px4-firmware-04f8e338b682d0f72f00ad12f22b5071a8f6bd18.tar.bz2 px4-firmware-04f8e338b682d0f72f00ad12f22b5071a8f6bd18.zip | |
hmc5883: add perf count, and removed unnecessary checks for -32768
we've already checked that the absolute value is <= 2048
Diffstat (limited to 'src/drivers/hmc5883/hmc5883.cpp')
| -rw-r--r-- | src/drivers/hmc5883/hmc5883.cpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/src/drivers/hmc5883/hmc5883.cpp b/src/drivers/hmc5883/hmc5883.cpp index 0de82c304..378f433cd 100644 --- a/src/drivers/hmc5883/hmc5883.cpp +++ b/src/drivers/hmc5883/hmc5883.cpp @@ -842,8 +842,10 @@ HMC5883::collect() */ if ((abs(report.x) > 2048) || (abs(report.y) > 2048) || - (abs(report.z) > 2048)) + (abs(report.z) > 2048)) { + perf_count(_comms_errors); goto out; + } /* * RAW outputs @@ -852,7 +854,7 @@ HMC5883::collect() * and y needs to be negated */ _reports[_next_report].x_raw = report.y; - _reports[_next_report].y_raw = ((report.x == -32768) ? 32767 : -report.x); + _reports[_next_report].y_raw = -report.x; /* z remains z */ _reports[_next_report].z_raw = report.z; @@ -878,14 +880,14 @@ HMC5883::collect() /* 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; /* 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; + _reports[_next_report].y = ((-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; } else { #endif /* the standard external mag by 3DR has x pointing to the right, y pointing backwards, and z down, * therefore switch x and y and invert y */ - _reports[_next_report].x = ((((report.y == -32768) ? 32767 : -report.y) * _range_scale) - _scale.x_offset) * _scale.x_scale; + _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 * _range_scale) - _scale.y_offset) * _scale.y_scale; /* z remains z */ |