void setup() {
hal.console->println("Compass library test");
if (!compass.init()) {
hal.console->println("compass initialisation failed!");
while (1) ;
}
hal.console->printf("init done - %u compasses detected\n", compass.get_count());
compass.set_and_save_offsets(0,0,0,0); // set offsets to account for surrounding interference
compass.set_declination(ToRad(0.0f)); // set local difference between magnetic north and true north
hal.scheduler->delay(1000);
timer = AP_HAL::micros();
}
// to be called only once on boot for initializing objects
static void setup()
{
hal.console->printf("Compass library test\n");
board_config.init();
vehicle.ahrs.init();
compass.init();
hal.console->printf("init done - %u compasses detected\n", compass.get_count());
// set offsets to account for surrounding interference
compass.set_and_save_offsets(0, Vector3f(0, 0, 0));
// set local difference between magnetic north and true north
compass.set_declination(ToRad(0.0f));
hal.scheduler->delay(1000);
timer = AP_HAL::micros();
}