Adds recommended changes from previous PR review

ArduPilot · Mar 5, 2021 · c26e328 · c26e328
1 parent f24e111
commit c26e328
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Showing 3 changed files with 5 additions and 7 deletions.
diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp
@@ -46,7 +46,6 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(navigate,               10,    150),
     SCHED_TASK(update_compass,         10,    200),
     SCHED_TASK(read_airspeed,          10,    100),
-    //SCHED_TASK(read_aoa,               10,    200),
     SCHED_TASK(update_alt,             10,    200),
     SCHED_TASK(adjust_altitude_target, 10,    200),
 #if ADVANCED_FAILSAFE == ENABLED
@@ -62,7 +61,7 @@ const AP_Scheduler::Task Plane::scheduler_tasks[] = {
     SCHED_TASK(read_rangefinder,       50,    100),
     SCHED_TASK_CLASS(AP_ICEngine, &plane.g2.ice_control, update, 10, 100),
     SCHED_TASK_CLASS(Compass,          &plane.compass,              cal_update, 50, 50),
-    SCHED_TASK_CLASS(AS5600_AOA, &plane.aoa_sensor, getRawAngle, 10, 200),
+    SCHED_TASK_CLASS(AS5600_AOA, &plane.aoa_sensor, update, 10, 200),
     SCHED_TASK(accel_cal_update,       10,    50),
 #if OPTFLOW == ENABLED
     SCHED_TASK_CLASS(OpticalFlow, &plane.optflow, update,    50,    50),

diff --git a/libraries/AP_AS5600_AOA/AS5600_AOA.cpp b/libraries/AP_AS5600_AOA/AS5600_AOA.cpp
@@ -72,21 +72,19 @@ bool AS5600_AOA::init()
  * Description: gets raw value of magnet position.
  * start, end, and max angle settings do not apply
 *******************************************************/
-uint16_t AS5600_AOA::getRawAngle(void)
+void AS5600_AOA::update(void)
 {
   WITH_SEMAPHORE(dev->get_semaphore());
 
   //uint16_t angleRaw = readTwoBytes(REG_RAW_ANG_HI, REG_RAW_ANG_LO);
   if (!dev->read_registers(REG_RAW_ANG_HI, &highByte, 1) || !dev->read_registers(REG_RAW_ANG_LO, &lowByte, 1)){
-      return -1;
+      return;
   }
 
   //Gets the two relevant register values and multiplies by conversion factor to get degrees
   uint16_t angleRaw = ((highByte << 8) | lowByte)*0.087;
 
   AP::logger().Write("AOAR", "TimeUS, Angle", "QH", AP_HAL::micros64(), angleRaw);
-
-   return angleRaw;
 }
 
 

diff --git a/libraries/AP_AS5600_AOA/AS5600_AOA.h b/libraries/AP_AS5600_AOA/AS5600_AOA.h
@@ -17,13 +17,14 @@ class AS5600_AOA {
 
     bool init();
 
+    void update(void);
+
     uint16_t setMaxAngle(uint16_t newMaxAngle = -1);
     uint16_t getMaxAngle();
     uint16_t setStartPosition(uint16_t startAngle = -1);
     uint16_t getStartPosition();
     uint16_t setEndPosition(uint16_t endAngle = -1);
     uint16_t getEndPosition();
-    uint16_t getRawAngle(void);
     uint16_t getScaledAngle();
 
     int  detectMagnet();