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[telemetry] allow sending of MAG message even if not USE_MAGNETOMETER

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Felix Ruess
2013-10-28 16:07:38 +01:00
parent 4e86e7c89b
commit 7d87b888a8
1 changed files with 0 additions and 4 deletions
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sw/airborne/subsystems/imu.c
-4
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@@ -77,7 +77,6 @@ static void send_gyro(void) {
&gyro_float.p, &gyro_float.q, &gyro_float.r); &gyro_float.p, &gyro_float.q, &gyro_float.r);
} }
#ifdef USE_MAGNETOMETER
static void send_mag_raw(void) { static void send_mag_raw(void) {
DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice, DOWNLINK_SEND_IMU_MAG_RAW(DefaultChannel, DefaultDevice,
&imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z); &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z);
@@ -102,7 +101,6 @@ static void send_mag_calib(void) {
&imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z, &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z,
&electrical.current); &electrical.current);
} }
#endif
#endif // !USE_IMU_FLOAT #endif // !USE_IMU_FLOAT
@@ -150,12 +148,10 @@ INFO("Magnetometer neutrals are set to zero, you should calibrate!")
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_RAW", send_gyro_raw); register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_RAW", send_gyro_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_SCALED", send_gyro_scaled); register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO_SCALED", send_gyro_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro); register_periodic_telemetry(DefaultPeriodic, "IMU_GYRO", send_gyro);
#ifdef USE_MAGNETOMETER
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_RAW", send_mag_raw);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_SCALED", send_mag_scaled);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG", send_mag);
register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_CURRENT_CALIBRATION", send_mag_calib); register_periodic_telemetry(DefaultPeriodic, "IMU_MAG_CURRENT_CALIBRATION", send_mag_calib);
#endif // USE_MAGNETOMETER
#endif // !USE_IMU_FLOAT #endif // !USE_IMU_FLOAT
#endif // DOWNLINK #endif // DOWNLINK