{"id":745,"date":"2017-01-10T21:50:07","date_gmt":"2017-01-11T06:50:07","guid":{"rendered":"\/blog\/?p=745"},"modified":"2025-04-14T10:48:05","modified_gmt":"2025-04-14T01:48:05","slug":"ardupilot-%ec%bb%b4%ed%8c%8c%ec%8a%a4%eb%a5%bc-%ed%95%98%eb%82%98%eb%a7%8c-%ec%82%ac%ec%9a%a9%ed%95%98%eb%8f%84%eb%a1%9d-%ec%86%8c%ed%81%ac%ec%bd%94%eb%93%9c%ec%97%90%ec%84%9c-%ec%88%98%ec%a0%95","status":"publish","type":"post","link":"https:\/\/hasu0707.duckdns.org\/blog\/?p=745","title":{"rendered":"ArduPilot \ucef4\ud30c\uc2a4\ub97c \ud558\ub098\ub9cc \uc0ac\uc6a9\ud558\ub3c4\ub85d \uc18c\uc2a4\ucf54\ub4dc\uc5d0\uc11c \uc218\uc815"},"content":{"rendered":"\n

\u25a0 ardupilot\/libraries\/AP_Compass\/AP_Compass.h<\/strong><\/span><\/font>
<\/p>\r\n


<\/font><\/p>\r\n

1. \/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

\/**<\/span><\/font><\/p>\r\n

   maximum number of compass instances available on this platform. If more<\/span><\/font><\/p>\r\n

   than 1 then redundant sensors may be available<\/span><\/font><\/p>\r\n

 *\/<\/span><\/font><\/p>\r\n

\/\/#define COMPASS_MAX_INSTANCES 3<\/span><\/font><\/p>\r\n

\/\/#define COMPASS_MAX_BACKEND   3<\/span><\/font><\/p>\r\n

#define COMPASS_MAX_INSTANCES 1 \/\/ hasu0707<\/span><\/font><\/p>\r\n

#define COMPASS_MAX_INSTANCES_FAKE 3 \/\/ hasu0707<\/span><\/font><\/p>\r\n

#define COMPASS_MAX_BACKEND   1 \/\/ hasu0707<\/span><\/font><\/p>\r\n

#define COMPASS_MAX_BACKEND_FAKE   3 \/\/ hasu0707<\/span><\/font><\/p>\r\n


<\/font><\/p>\r\n

2.<\/span> <\/span>\/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span>
<\/font><\/p>\r\n

    \/\/keep track of which calibrators have been saved<\/span><\/p>\r\n

    \/\/bool _cal_saved[COMPASS_MAX_INSTANCES];<\/span><\/span><\/p>\r\n

<\/p>\r\n

    bool _cal_saved[COMPASS_MAX_INSTANCES_FAKE]; \/\/ by hasu0707<\/span><\/p>\r\n


<\/p>\r\n

3.<\/span> <\/span>\/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

    \/\/ backend objects<\/span><\/p>\r\n

    \/\/AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND];<\/span><\/span><\/p>\r\n

    AP_Compass_Backend *_backends[COMPASS_MAX_BACKEND_FAKE]; \/\/ by hasu0707<\/span><\/p>\r\n


<\/p>\r\n

4.<\/span> <\/span>\/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

\/\/    } _state[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

    } _state[COMPASS_MAX_INSTANCES_FAKE]; \/\/ by hasu0707<\/span><\/p>\r\n


<\/p>\r\n

5.<\/span> <\/span>\/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/p>\r\n

\/\/    CompassCalibrator _calibrator[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

    CompassCalibrator _calibrator[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n


<\/p>\r\n


<\/p>\r\n

\u25a0 ardupilot\/libraries\/AP_Compass\/AP_Compass_PX4.h<\/strong><\/span>
<\/p>\r\n


<\/p>\r\n

1. <\/span>\/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/p>\r\n


<\/p>\r\n

\/\/    uint8_t  _instance[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

\/\/    int      _mag_fd[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

\/\/    Vector3f _sum[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

\/\/    uint32_t _count[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

\/\/    uint64_t _last_timestamp[COMPASS_MAX_INSTANCES];<\/span><\/p>\r\n

    uint8_t  _instance[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n

    int      _mag_fd[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n

    Vector3f _sum[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n

    uint32_t _count[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n

    uint64_t _last_timestamp[COMPASS_MAX_INSTANCES_FAKE]; \/\/ hasu0707<\/span><\/p>\r\n

};<\/span><\/p>\r\n


<\/span><\/p>\r\n

\u25a0 ardupilot\/libraries\/AP_Compass\/AP_Compass_HIL.cpp<\/strong><\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

1. \/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4.<\/span><\/font><\/p>\r\n


<\/span><\/font><\/p>\r\n

void AP_Compass_HIL::read()<\/span><\/font><\/p>\r\n

{<\/span><\/font><\/p>\r\n

    \/\/for (uint8_t i=0; i < ARRAY_SIZE(_compass_instance); i++) {<\/span><\/span><\/font><\/p>\r\n

    for (uint8_t i=0; i < 1; i++) { \/\/ hasu0707<\/span><\/font><\/p>\n","protected":false},"excerpt":{"rendered":"

\u25a0 ardupilot\/libraries\/AP_Compass\/AP_Compass.h 1. \/\/ \uc8fc\uc11d\uc740 \uc774\uc804 \ucf54\ub4dc, \/\/hasu0707\uc774 \uc788\ub294 \ucf54\ub4dc\ub85c \uc218\uc815\ud55c\ub2e4. \/**    maximum number of compass instances available on this platform. If more    than 1 then redundant sensors may be available  *\/ \/\/#define COMPASS_MAX_INSTANCES 3 \/\/#define COMPASS_MAX_BACKEND   3 #define COMPASS_MAX_INSTANCES 1 \/\/ hasu0707 #define COMPASS_MAX_INSTANCES_FAKE 3 \/\/ hasu0707 #define COMPASS_MAX_BACKEND   1 […]<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_import_markdown_pro_load_document_selector":0,"_import_markdown_pro_submit_text_textarea":"","site-sidebar-layout":"default","site-content-layout":"","ast-site-content-layout":"default","site-content-style":"default","site-sidebar-style":"default","ast-global-header-display":"","ast-banner-title-visibility":"","ast-main-header-display":"","ast-hfb-above-header-display":"","ast-hfb-below-header-display":"","ast-hfb-mobile-header-display":"","site-post-title":"","ast-breadcrumbs-content":"","ast-featured-img":"","footer-sml-layout":"","theme-transparent-header-meta":"","adv-header-id-meta":"","stick-header-meta":"","header-above-stick-meta":"","header-main-stick-meta":"","header-below-stick-meta":"","astra-migrate-meta-layouts":"set","ast-page-background-enabled":"default","ast-page-background-meta":{"desktop":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"ast-content-background-meta":{"desktop":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"tablet":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""},"mobile":{"background-color":"var(--ast-global-color-5)","background-image":"","background-repeat":"repeat","background-position":"center center","background-size":"auto","background-attachment":"scroll","background-type":"","background-media":"","overlay-type":"","overlay-color":"","overlay-opacity":"","overlay-gradient":""}},"footnotes":""},"categories":[30],"tags":[],"class_list":["post-745","post","type-post","status-publish","format-standard","hentry","category-multi_copter_fc"],"_links":{"self":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/745","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/users\/2"}],"replies":[{"embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=745"}],"version-history":[{"count":0,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=\/wp\/v2\/posts\/745\/revisions"}],"wp:attachment":[{"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=745"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=745"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/hasu0707.duckdns.org\/blog\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=745"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}