ardupilot/libraries/AP_Compass/Compass_learn.cpp

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#include <AP_AHRS/AP_AHRS.h>
#include <AP_Compass/AP_Compass.h>
#include "Compass_learn.h"
#include <GCS_MAVLink/GCS.h>
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#include <AP_Vehicle/AP_Vehicle.h>
#include <AP_NavEKF/EKFGSF_yaw.h>
#if COMPASS_LEARN_ENABLED
extern const AP_HAL::HAL &hal;
// constructor
CompassLearn::CompassLearn(Compass &_compass) :
compass(_compass)
{
gcs().send_text(MAV_SEVERITY_INFO, "CompassLearn: Initialised");
}
// accuracy threshold applied for GSF yaw estimate
#define YAW_ACCURACY_THRESHOLD_DEG 5.0
/*
update when new compass sample available
*/
void CompassLearn::update(void)
{
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const AP_Vehicle *vehicle = AP::vehicle();
if (compass.get_learn_type() != Compass::LEARN_INFLIGHT ||
!hal.util->get_soft_armed() ||
vehicle->get_time_flying_ms() < 3000) {
// only learn when flying and with enough time to be clear of
// the ground
return;
}
const auto &ahrs = AP::ahrs();
const auto *gsf = ahrs.get_yaw_estimator();
if (gsf == nullptr) {
// no GSF available
return;
}
if (degrees(fabsf(ahrs.get_pitch())) > 50) {
// we don't want to be too close to nose up, or yaw gets
// problematic. Tailsitters need to wait till they are in
// forward flight
return;
}
AP_Notify::flags.compass_cal_running = true;
ftype yaw_rad, yaw_variance;
uint8_t n_clips;
if (!gsf->getYawData(yaw_rad, yaw_variance, &n_clips) ||
!is_positive(yaw_variance) ||
n_clips > 1 ||
yaw_variance >= sq(radians(YAW_ACCURACY_THRESHOLD_DEG))) {
// not converged
return;
}
const auto result = compass.mag_cal_fixed_yaw(degrees(yaw_rad), (1U<<HAL_COMPASS_MAX_SENSORS)-1, 0, 0, true);
if (result == MAV_RESULT_ACCEPTED) {
AP_Notify::flags.compass_cal_running = false;
compass.set_learn_type(Compass::LEARN_NONE, true);
gcs().send_text(MAV_SEVERITY_INFO, "CompassLearn: Finished");
}
}
#endif // COMPASS_LEARN_ENABLED