mirror of https://github.com/ArduPilot/ardupilot
110 lines
3.1 KiB
C++
110 lines
3.1 KiB
C++
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/// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
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/*
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <AP_HAL/AP_HAL.h>
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#if CONFIG_HAL_BOARD_SUBTYPE == HAL_BOARD_SUBTYPE_LINUX_QFLIGHT
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#include "AP_Compass_qflight.h"
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#include <AP_HAL_Linux/qflight/qflight_util.h>
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#include <AP_HAL_Linux/qflight/qflight_dsp.h>
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#include "AP_Compass_qflight.h"
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#include <unistd.h>
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extern const AP_HAL::HAL& hal;
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// constructor
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AP_Compass_QFLIGHT::AP_Compass_QFLIGHT(Compass &compass):
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AP_Compass_Backend(compass)
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{
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}
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// detect the sensor
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AP_Compass_Backend *AP_Compass_QFLIGHT::detect(Compass &compass)
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{
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AP_Compass_QFLIGHT *sensor = new AP_Compass_QFLIGHT(compass);
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if (sensor == NULL) {
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return NULL;
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}
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if (!sensor->init()) {
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delete sensor;
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return NULL;
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}
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return sensor;
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}
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bool AP_Compass_QFLIGHT::init(void)
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{
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instance = register_compass();
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hal.scheduler->register_timer_process(FUNCTOR_BIND_MEMBER(&AP_Compass_QFLIGHT::timer_update, void));
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// give time for at least one sample
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hal.scheduler->delay(100);
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return true;
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}
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void AP_Compass_QFLIGHT::read(void)
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{
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if (count > 0) {
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hal.scheduler->suspend_timer_procs();
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publish_filtered_field(sum/count, instance);
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sum.zero();
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count = 0;
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hal.scheduler->resume_timer_procs();
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}
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}
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void AP_Compass_QFLIGHT::timer_update(void)
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{
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uint32_t now = AP_HAL::millis();
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if (now - last_check_ms < 25) {
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return;
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}
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last_check_ms = now;
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if (magbuf == nullptr) {
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magbuf = QFLIGHT_RPC_ALLOCATE(DSPBuffer::MAG);
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if (magbuf == nullptr) {
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AP_HAL::panic("unable to allocate MAG buffer");
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}
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}
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int ret = qflight_get_mag_data((uint8_t *)magbuf, sizeof(*magbuf));
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if (ret != 0) {
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return;
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}
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uint64_t time_us = AP_HAL::micros64();
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for (uint16_t i=0; i<magbuf->num_samples; i++) {
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DSPBuffer::MAG::BUF &b = magbuf->buf[i];
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// get raw_field - sensor frame, uncorrected
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Vector3f raw_field(b.mag_raw[0], b.mag_raw[1], -b.mag_raw[2]);
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// rotate raw_field from sensor frame to body frame
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rotate_field(raw_field, instance);
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// publish raw_field (uncorrected point sample) for calibration use
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publish_raw_field(raw_field, time_us, instance);
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// correct raw_field for known errors
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correct_field(raw_field, instance);
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// accumulate into averaging filter
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sum += raw_field;
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count++;
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}
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}
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#endif // CONFIG_HAL_BOARD_SUBTYPE
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