APM: added COMPASSMOT_STATUS message

used to report status during compassmot calibration
DevAMig · Feb 13, 2014 · fb98a27 · fb98a27
1 parent b3179ba
commit fb98a27
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Showing 2 changed files with 11 additions and 1 deletion.
diff --git a/message_definitions/v1.0/ardupilotmega.xml b/message_definitions/v1.0/ardupilotmega.xml
@@ -406,6 +406,16 @@
             <field name="idx" type="uint8_t">point index (first point is 0)</field>
           </message>
 
+          <message name="COMPASSMOT_STATUS" id="177">
+            <description>Status of compassmot calibration</description>
+            <field name="throttle" type="uint16_t">throttle (percent*10)</field>
+            <field name="current" type="float">current (amps)</field>
+            <field name="interference" type="uint16_t">interference (percent)</field>
+            <field name="CompensationX" type="float">Motor Compensation X</field>
+            <field name="CompensationY" type="float">Motor Compensation Y</field>
+            <field name="CompensationZ" type="float">Motor Compensation Z</field>
+          </message>
+
 <!-- Coming soon
       <message name="RALLY_LAND_POINT" id="177"> 
          <description>A rally landing point.  An aircraft loitering at a rally point may choose one of these points to land at.</description>

diff --git a/message_definitions/v1.0/common.xml b/message_definitions/v1.0/common.xml
@@ -704,7 +704,7 @@
                     <param index="3">Ground pressure: 0: no, 1: yes</param>
                     <param index="4">Radio calibration: 0: no, 1: yes</param>
                     <param index="5">Accelerometer calibration: 0: no, 1: yes</param>
-                    <param index="6">Empty</param>
+                    <param index="6">Compass/Motor interference calibration: 0: no, 1: yes</param>
                     <param index="7">Empty</param>
                </entry>
                <entry value="242" name="MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS">