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AntennaTracker: implement on-board compass calibration for Antenna tracker

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This commit is contained in:
Siddharth Bharat Purohit 2015-07-30 22:52:02 -07:00 committed by Andrew Tridgell
parent aea1db7348
commit 0c004c13a1
4 changed files with 27 additions and 0 deletions
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1
AntennaTracker/AntennaTracker.cpp
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@ -49,6 +49,7 @@ const AP_Scheduler::Task Tracker::scheduler_tasks[] PROGMEM = {
SCHED_TASK(check_usb_mux, 5, 300), SCHED_TASK(check_usb_mux, 5, 300),
SCHED_TASK(gcs_retry_deferred, 1, 1000), SCHED_TASK(gcs_retry_deferred, 1, 1000),
SCHED_TASK(one_second_loop, 50, 3900), SCHED_TASK(one_second_loop, 50, 3900),
SCHED_TASK(compass_cal_update, 1, 100),
}; };
/** /**

17
AntennaTracker/GCS_Mavlink.cpp
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@ -260,6 +260,15 @@ bool GCS_MAVLINK::try_send_message(enum ap_message id)
CHECK_PAYLOAD_SIZE(HWSTATUS); CHECK_PAYLOAD_SIZE(HWSTATUS);
tracker.send_hwstatus(chan); tracker.send_hwstatus(chan);
break; break;
case MSG_MAG_CAL_PROGRESS:
CHECK_PAYLOAD_SIZE(MAG_CAL_PROGRESS);
tracker.compass.send_mag_cal_progress(chan);
break;
case MSG_MAG_CAL_REPORT:
CHECK_PAYLOAD_SIZE(MAG_CAL_REPORT);
tracker.compass.send_mag_cal_report(chan);
break;
case MSG_SERVO_OUT: case MSG_SERVO_OUT:
case MSG_EXTENDED_STATUS1: case MSG_EXTENDED_STATUS1:
@ -459,6 +468,8 @@ GCS_MAVLINK::data_stream_send(void)
send_message(MSG_AHRS); send_message(MSG_AHRS);
send_message(MSG_HWSTATUS); send_message(MSG_HWSTATUS);
send_message(MSG_SIMSTATE); send_message(MSG_SIMSTATE);
send_message(MSG_MAG_CAL_REPORT);
send_message(MSG_MAG_CAL_PROGRESS);
} }
} }
@ -697,6 +708,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
break; break;
} }
case MAV_CMD_DO_START_MAG_CAL:
case MAV_CMD_DO_ACCEPT_MAG_CAL:
case MAV_CMD_DO_CANCEL_MAG_CAL:
result = tracker.compass.handle_mag_cal_command(packet);
break;
default: default:
break; break;
} }

1
AntennaTracker/Tracker.h
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@ -247,6 +247,7 @@ private:
void update_armed_disarmed(); void update_armed_disarmed();
void gcs_send_text_fmt(const prog_char_t *fmt, ...); void gcs_send_text_fmt(const prog_char_t *fmt, ...);
void init_capabilities(void); void init_capabilities(void);
void compass_cal_update();
public: public:
void mavlink_snoop(const mavlink_message_t* msg); void mavlink_snoop(const mavlink_message_t* msg);

8
AntennaTracker/sensors.cpp
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@ -56,6 +56,14 @@ void Tracker::barometer_accumulate(void)
barometer.accumulate(); barometer.accumulate();
} }
/*
calibrate compass
*/
void Tracker::compass_cal_update() {
if (!hal.util->get_soft_armed()) {
compass.compass_cal_update();
}
}
/* /*
read the GPS read the GPS