ardupilot/libraries/AP_Compass/AP_Compass_Backend.cpp

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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
#include <AP_HAL/AP_HAL.h>
#include "Compass.h"
#include "AP_Compass_Backend.h"
extern const AP_HAL::HAL& hal;
AP_Compass_Backend::AP_Compass_Backend(Compass &compass) :
_compass(compass)
{}
/*
* A compass measurement is expected to pass through the following functions:
* 1. rotate_field - this rotates the measurement in-place from sensor frame
* to body frame
* 2. publish_raw_field - this provides an uncorrected point-sample for
* calibration libraries
* 3. correct_field - this corrects the measurement in-place for hard iron,
* soft iron, motor interference, and non-orthagonality errors
* 4. publish_unfiltered_field - this (optionally) provides a corrected
* point sample for fusion into the EKF
* 5. publish_filtered_field - legacy filtered magnetic field
*
* All those functions expect the mag field to be in milligauss.
*/
void AP_Compass_Backend::rotate_field(Vector3f &mag, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];
mag.rotate(MAG_BOARD_ORIENTATION);
if (!state.external) {
// and add in AHRS_ORIENTATION setting if not an external compass
mag.rotate(_compass._board_orientation);
} else {
// add user selectable orientation
mag.rotate((enum Rotation)state.orientation.get());
}
}
void AP_Compass_Backend::publish_raw_field(const Vector3f &mag, uint32_t time_us, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];
state.last_update_ms = AP_HAL::millis();
// note that we do not set last_update_usec here as otherwise the
// EKF and DCM would end up consuming compass data at the full
// sensor rate. We want them to consume only the filtered fields
state.raw_field = mag;
state.raw_meas_time_us = time_us;
state.updated_raw_field = true;
state.has_raw_field = true;
_compass._calibrator[instance].new_sample(mag);
}
void AP_Compass_Backend::correct_field(Vector3f &mag, uint8_t i)
{
Compass::mag_state &state = _compass._state[i];
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if (state.diagonals.get().is_zero()) {
state.diagonals.set(Vector3f(1.0f,1.0f,1.0f));
}
const Vector3f &offsets = state.offset.get();
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const Vector3f &diagonals = state.diagonals.get();
const Vector3f &offdiagonals = state.offdiagonals.get();
const Vector3f &mot = state.motor_compensation.get();
/*
* note that _motor_offset[] is kept even if compensation is not
* being applied so it can be logged correctly
*/
mag += offsets;
if(_compass._motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && !is_zero(_compass._thr_or_curr)) {
state.motor_offset = mot * _compass._thr_or_curr;
mag += state.motor_offset;
} else {
state.motor_offset.zero();
}
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Matrix3f mat(
diagonals.x, offdiagonals.x, offdiagonals.y,
offdiagonals.x, diagonals.y, offdiagonals.z,
offdiagonals.y, offdiagonals.z, diagonals.z
);
mag = mat * mag;
}
void AP_Compass_Backend::publish_unfiltered_field(const Vector3f &mag, uint32_t time_us, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];
state.unfiltered_field = mag;
state.raw_meas_time_us = time_us;
state.updated_unfiltered_field = true;
state.has_unfiltered_field = true;
}
/*
copy latest data to the frontend from a backend
*/
void AP_Compass_Backend::publish_filtered_field(const Vector3f &mag, uint8_t instance)
{
Compass::mag_state &state = _compass._state[instance];
state.field = mag;
state.last_update_ms = AP_HAL::millis();
state.last_update_usec = AP_HAL::micros();
state.has_raw_field = state.updated_raw_field;
state.updated_raw_field = false;
state.has_unfiltered_field = state.updated_unfiltered_field;
state.updated_unfiltered_field = false;
}
/*
register a new backend with frontend, returning instance which
should be used in publish_field()
*/
uint8_t AP_Compass_Backend::register_compass(void) const
{
return _compass.register_compass();
}
/*
set dev_id for an instance
*/
void AP_Compass_Backend::set_dev_id(uint8_t instance, uint32_t dev_id)
{
_compass._state[instance].dev_id.set(dev_id);
}
/*
set external for an instance
*/
void AP_Compass_Backend::set_external(uint8_t instance, bool external)
{
_compass._state[instance].external.set(external);
}