2014-11-15 21:58:23 -04:00
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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2015-08-11 03:28:42 -03:00
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#include <AP_HAL/AP_HAL.h>
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2014-11-15 21:58:23 -04:00
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#include "Compass.h"
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#include "AP_Compass_Backend.h"
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2015-02-23 19:17:44 -04:00
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extern const AP_HAL::HAL& hal;
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2014-11-15 21:58:23 -04:00
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AP_Compass_Backend::AP_Compass_Backend(Compass &compass) :
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2015-02-23 19:17:44 -04:00
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_compass(compass)
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2015-01-19 12:58:26 -04:00
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{}
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/*
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copy latest data to the frontend from a backend
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*/
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2015-02-23 19:17:44 -04:00
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void AP_Compass_Backend::publish_field(const Vector3f &mag, uint8_t instance)
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{
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Compass::mag_state &state = _compass._state[instance];
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state.field = mag;
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2015-01-19 12:58:26 -04:00
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// apply default board orientation for this compass type. This is
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// a noop on most boards
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2015-02-23 19:17:44 -04:00
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state.field.rotate(MAG_BOARD_ORIENTATION);
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2015-01-19 12:58:26 -04:00
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2015-02-23 19:17:44 -04:00
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if (!state.external) {
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2015-01-19 12:58:26 -04:00
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// and add in AHRS_ORIENTATION setting if not an external compass
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2015-02-23 19:17:44 -04:00
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state.field.rotate(_compass._board_orientation);
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2015-03-13 02:43:34 -03:00
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} else {
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// add user selectable orientation
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state.field.rotate((enum Rotation)state.orientation.get());
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2015-02-23 19:17:44 -04:00
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}
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apply_corrections(state.field, instance);
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state.last_update_ms = hal.scheduler->millis();
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2015-07-16 05:56:12 -03:00
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state.last_update_usec = hal.scheduler->micros();
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2015-02-23 19:17:44 -04:00
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}
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/*
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register a new backend with frontend, returning instance which
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should be used in publish_field()
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*/
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uint8_t AP_Compass_Backend::register_compass(void) const
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{
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return _compass.register_compass();
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}
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/*
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apply offset and motor compensation corrections
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*/
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void AP_Compass_Backend::apply_corrections(Vector3f &mag, uint8_t i)
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{
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Compass::mag_state &state = _compass._state[i];
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const Vector3f &offsets = state.offset.get();
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const Vector3f &mot = state.motor_compensation.get();
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/*
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note that _motor_offset[] is kept even if compensation is not
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being applied so it can be logged correctly
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*/
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mag += offsets;
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2015-05-04 23:35:20 -03:00
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if(_compass._motor_comp_type != AP_COMPASS_MOT_COMP_DISABLED && !is_zero(_compass._thr_or_curr)) {
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2015-02-23 19:17:44 -04:00
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state.motor_offset = mot * _compass._thr_or_curr;
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mag += state.motor_offset;
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} else {
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state.motor_offset.zero();
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2015-01-19 12:58:26 -04:00
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}
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2015-02-23 19:17:44 -04:00
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}
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2015-01-19 12:58:26 -04:00
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2015-02-23 19:17:44 -04:00
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/*
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set dev_id for an instance
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*/
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void AP_Compass_Backend::set_dev_id(uint8_t instance, uint32_t dev_id)
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{
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#if COMPASS_MAX_INSTANCES > 1
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_compass._state[instance].dev_id.set(dev_id);
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#endif
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}
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/*
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set external for an instance
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*/
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void AP_Compass_Backend::set_external(uint8_t instance, bool external)
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{
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_compass._state[instance].external.set(external);
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}
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