mirror of https://github.com/ArduPilot/ardupilot
Major update including AP_Var support.
Most of the compass functionality is now abstracted in a base class, with the various sub-classes implementing just their unique functionality. git-svn-id: https://arducopter.googlecode.com/svn/trunk@1647 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok@gmail.com
parent
90bae93a50
commit
1f04ecbfdb
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@ -11,121 +11,15 @@
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#include "AP_Compass_HIL.h"
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// Constructors ////////////////////////////////////////////////////////////////
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AP_Compass_HIL::AP_Compass_HIL() : orientation(0), declination(0.0)
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{
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// mag x y z offset initialisation
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memset(offset, 0, sizeof(offset));
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// initialise orientation matrix
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orientation_matrix = ROTATION_NONE;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_HIL::init(int initialise_wire_lib)
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{
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unsigned long currentTime = millis(); // record current time
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int numAttempts = 0;
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int success = 0;
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// calibration initialisation
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calibration[0] = 1.0;
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calibration[1] = 1.0;
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calibration[2] = 1.0;
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while( success == 0 && numAttempts < 5 )
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{
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// record number of attempts at initialisation
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numAttempts++;
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// read values from the compass
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read();
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delay(10);
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// calibrate
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if( abs(mag_x) > 500 && abs(mag_x) < 1000 && abs(mag_y) > 500 && abs(mag_y) < 1000 && abs(mag_z) > 500 && abs(mag_z) < 1000)
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{
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calibration[0] = fabs(715.0 / mag_x);
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calibration[1] = fabs(715.0 / mag_y);
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calibration[2] = fabs(715.0 / mag_z);
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// mark success
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success = 1;
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}
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}
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return(success);
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}
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// Read Sensor data
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void AP_Compass_HIL::read()
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{
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// values set by setHIL function
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}
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void AP_Compass_HIL::calculate(float roll, float pitch)
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{
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float headX;
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float headY;
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float cos_roll;
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float sin_roll;
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float cos_pitch;
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float sin_pitch;
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Vector3f rotMagVec;
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cos_roll = cos(roll); // Optimizacion, se puede sacar esto de la matriz DCM?
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sin_roll = sin(roll);
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cos_pitch = cos(pitch);
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sin_pitch = sin(pitch);
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// rotate the magnetometer values depending upon orientation
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if( orientation == 0 )
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rotMagVec = Vector3f(mag_x+offset[0],mag_y+offset[1],mag_z+offset[2]);
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else
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rotMagVec = orientation_matrix*Vector3f(mag_x+offset[0],mag_y+offset[1],mag_z+offset[2]);
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// Tilt compensated Magnetic field X component:
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headX = rotMagVec.x*cos_pitch+rotMagVec.y*sin_roll*sin_pitch+rotMagVec.z*cos_roll*sin_pitch;
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// Tilt compensated Magnetic field Y component:
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headY = rotMagVec.y*cos_roll-rotMagVec.z*sin_roll;
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// Magnetic heading
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heading = atan2(-headY,headX);
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// Declination correction (if supplied)
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if( declination != 0.0 )
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{
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heading = heading + declination;
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if (heading > M_PI) // Angle normalization (-180 deg, 180 deg)
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heading -= (2.0 * M_PI);
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else if (heading < -M_PI)
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heading += (2.0 * M_PI);
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}
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// Optimization for external DCM use. Calculate normalized components
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heading_x = cos(heading);
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heading_y = sin(heading);
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}
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void AP_Compass_HIL::set_orientation(const Matrix3f &rotation_matrix)
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{
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orientation_matrix = rotation_matrix;
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if( orientation_matrix == ROTATION_NONE )
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orientation = 0;
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else
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orientation = 1;
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}
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void AP_Compass_HIL::set_offsets(int x, int y, int z)
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{
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offset[0] = x;
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offset[1] = y;
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offset[2] = z;
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}
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void AP_Compass_HIL::set_declination(float radians)
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{
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declination = radians;
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}
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// Update raw magnetometer values from HIL data
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//
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void AP_Compass_HIL::setHIL(float _mag_x, float _mag_y, float _mag_z)
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{
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// TODO: map floats to raw
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@ -1,29 +1,16 @@
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#ifndef AP_Compass_HIL_H
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#define AP_Compass_HIL_H
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#include <Compass.h>
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#include "AP_Compass_HMC5843.h" // to get #defines since we are modelling this
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#include "WProgram.h"
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#include "Compass.h"
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class AP_Compass_HIL : public Compass
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{
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public:
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AP_Compass_HIL(); // Constructor
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bool init(int initialise_wire_lib = 1);
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void read();
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void calculate(float roll, float pitch);
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void set_orientation(const Matrix3f &rotation_matrix);
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void set_offsets(int x, int y, int z);
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void set_declination(float radians);
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void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
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AP_Compass_HIL(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
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private:
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int orientation;
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Matrix3f orientation_matrix;
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float calibration[3];
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int offset[3];
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float declination;
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virtual bool init();
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virtual void read();
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void setHIL(float Mag_X, float Mag_Y, float Mag_Z);
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};
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#endif
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@ -10,28 +10,7 @@
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Sensor is conected to I2C port
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Sensor is initialized in Continuos mode (10Hz)
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Variables:
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heading : magnetic heading
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heading_x : magnetic heading X component
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heading_y : magnetic heading Y component
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mag_x : Raw X axis magnetometer data
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mag_y : Raw Y axis magnetometer data
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mag_z : Raw Z axis magnetometer data
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last_update : the time of the last successful reading
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Methods:
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init() : Initialization of I2C and sensor
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read() : Read Sensor data
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calculate(float roll, float pitch) : Calculate tilt adjusted heading
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set_orientation(const Matrix3f &rotation_matrix) : Set orientation of compass
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set_offsets(int x, int y, int z) : Set adjustments for HardIron disturbances
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set_declination(float radians) : Set heading adjustment between true north and magnetic north
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To do : code optimization
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Mount position : UPDATED
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Big capacitor pointing backward, connector forward
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*/
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// AVR LibC Includes
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@ -52,42 +31,25 @@
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#define ContinuousConversion 0x00
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#define SingleConversion 0x01
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// Constructors ////////////////////////////////////////////////////////////////
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AP_Compass_HMC5843::AP_Compass_HMC5843() : orientation(0), declination(0.0)
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{
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// mag x y z offset initialisation
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_offset.x = 0;
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_offset.y = 0;
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_offset.z = 0;
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// initialise orientation matrix
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orientation_matrix = ROTATION_NONE;
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}
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// Public Methods //////////////////////////////////////////////////////////////
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bool AP_Compass_HMC5843::init(int initialise_wire_lib)
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bool AP_Compass_HMC5843::init()
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{
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unsigned long currentTime = millis(); // record current time
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int numAttempts = 0;
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int success = 0;
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first_call = 1;
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if( initialise_wire_lib != 0 )
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Wire.begin();
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delay(10);
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// calibration initialisation
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calibration[0] = 1.0;
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calibration[1] = 1.0;
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calibration[2] = 1.0;
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while( success == 0 && numAttempts < 5 )
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{
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// record number of attempts at initialisation
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numAttempts++;
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// force positiveBias (compass should return 715 for all channels)
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegA);
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@ -95,20 +57,20 @@ bool AP_Compass_HMC5843::init(int initialise_wire_lib)
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if (0 != Wire.endTransmission())
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continue; // compass not responding on the bus
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delay(50);
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// set gains
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegB);
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Wire.send(magGain);
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Wire.endTransmission();
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delay(10);
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delay(10);
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ModeRegister);
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Wire.send(SingleConversion);
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Wire.endTransmission();
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delay(10);
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// read values from the compass
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read();
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delay(10);
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calibration[0] = fabs(715.0 / mag_x);
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calibration[1] = fabs(715.0 / mag_y);
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calibration[2] = fabs(715.0 / mag_z);
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// mark success
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success = 1;
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}
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// leave test mode
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(ConfigRegA);
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int i = 0;
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byte buff[6];
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Vector3f rot_mag;
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.send(0x03); //sends address to read from
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Wire.endTransmission(); //end transmission
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//Wire.beginTransmission(COMPASS_ADDRESS);
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//Wire.beginTransmission(COMPASS_ADDRESS);
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Wire.requestFrom(COMPASS_ADDRESS, 6); // request 6 bytes from device
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while(Wire.available())
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{
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while(Wire.available())
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{
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buff[i] = Wire.receive(); // receive one byte
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i++;
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}
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Wire.endTransmission(); //end transmission
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if (i==6) // All bytes received?
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{
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// MSB byte first, then LSB, X,Y,Z
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@ -167,102 +129,13 @@ void AP_Compass_HMC5843::read()
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mag_y = ((((int)buff[2]) << 8) | buff[3]) * calibration[1]; // Y axis
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mag_z = -((((int)buff[4]) << 8) | buff[5]) * calibration[2]; // Z axis
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last_update = millis(); // record time of update
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// rotate the magnetometer values depending upon orientation
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if( orientation == 0 )
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rot_mag = Vector3f(mag_x,mag_y,mag_z);
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else
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rot_mag = orientation_matrix*Vector3f(mag_x,mag_y,mag_z);
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rot_mag = rot_mag + _offset;
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// rotate and offset the magnetometer values
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// XXX this could well be done in common code...
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rot_mag = _orientation_matrix.get() * Vector3f(mag_x,mag_y,mag_z);
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rot_mag = rot_mag + _offset.get();
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mag_x = rot_mag.x;
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mag_y = rot_mag.y;
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mag_z = rot_mag.z;
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}
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}
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void AP_Compass_HMC5843::calculate(float roll, float pitch)
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{
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float headX;
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float headY;
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float cos_roll;
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float sin_roll;
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float cos_pitch;
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float sin_pitch;
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cos_roll = cos(roll); // Optimizacion, se puede sacar esto de la matriz DCM?
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sin_roll = 1 - (cos_roll * cos_roll);
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cos_pitch = cos(pitch);
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sin_pitch = 1 - (cos_pitch * cos_pitch);
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// Tilt compensated magnetic field X component:
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headX = mag_x*cos_pitch+mag_y*sin_roll*sin_pitch+mag_z*cos_roll*sin_pitch;
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// Tilt compensated magnetic field Y component:
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headY = mag_y*cos_roll-mag_z*sin_roll;
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// magnetic heading
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heading = atan2(-headY,headX);
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// Declination correction (if supplied)
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if( declination != 0.0 )
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{
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heading = heading + declination;
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if (heading > M_PI) // Angle normalization (-180 deg, 180 deg)
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heading -= (2.0 * M_PI);
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else if (heading < -M_PI)
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heading += (2.0 * M_PI);
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}
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// Optimization for external DCM use. Calculate normalized components
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heading_x = cos(heading);
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heading_y = sin(heading);
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}
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void AP_Compass_HMC5843::null_offsets(Matrix3f dcm_matrix)
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{
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// Update our estimate of the offsets in the magnetometer
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Vector3f calc(0.0, 0.0, 0.0);
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Matrix3f dcm_new_from_last;
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float weight;
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Vector3f mag_body_new = Vector3f(mag_x,mag_y,mag_z);
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if(!first_call) {
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dcm_new_from_last = dcm_matrix.transposed() * last_dcm_matrix; // Note 11/20/2010: transpose() is not working, transposed() is.
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weight = 3.0 - fabs(dcm_new_from_last.a.x) - fabs(dcm_new_from_last.b.y) - fabs(dcm_new_from_last.c.z);
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if (weight > .001) {
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calc = mag_body_new + mag_body_last; // Eq 11 from Bill P's paper
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calc -= dcm_new_from_last * mag_body_last;
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calc -= dcm_new_from_last.transposed() * mag_body_new;
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if(weight > 0.5) weight = 0.5;
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calc = calc * (weight);
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_offset -= calc;
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}
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} else {
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first_call = 0;
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}
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mag_body_last = mag_body_new - calc;
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last_dcm_matrix = dcm_matrix;
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}
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void AP_Compass_HMC5843::set_orientation(const Matrix3f &rotation_matrix)
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{
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orientation_matrix = rotation_matrix;
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if( orientation_matrix == ROTATION_NONE )
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orientation = 0;
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else
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orientation = 1;
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}
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void AP_Compass_HMC5843::set_offsets(int x, int y, int z)
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{
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_offset.x = x;
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_offset.y = y;
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_offset.z = z;
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}
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void AP_Compass_HMC5843::set_declination(float radians)
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{
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declination = radians;
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}
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#ifndef AP_Compass_HMC5843_H
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#define AP_Compass_HMC5843_H
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#include "Compass.h"
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#include "../AP_Math/AP_Math.h"
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#include <AP_Common.h>
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#include <AP_Math.h>
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// Rotation matrices
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#define ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
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#define ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
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#define ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
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#define ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
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#define ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
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#define ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
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#define ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
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#define ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
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#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
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#include "Compass.h"
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// orientations for DIYDrones magnetometer
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#define AP_COMPASS_COMPONENTS_UP_PINS_FORWARD ROTATION_NONE
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@ -61,23 +45,10 @@
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class AP_Compass_HMC5843 : public Compass
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{
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private:
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int orientation;
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Matrix3f orientation_matrix;
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Matrix3f last_dcm_matrix;
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Vector3f mag_body_last;
|
||||
bool first_call;
|
||||
float calibration[3];
|
||||
Vector3f _offset;
|
||||
float declination;
|
||||
public:
|
||||
AP_Compass_HMC5843(); // Constructor
|
||||
bool init(int initialiseWireLib = 1);
|
||||
void read();
|
||||
void calculate(float roll, float pitch);
|
||||
void null_offsets(const Matrix3f dcm_matrix);
|
||||
void set_orientation(const Matrix3f &rotation_matrix);
|
||||
void set_offsets(int x, int y, int z);
|
||||
Vector3f get_offsets() {return _offset;};
|
||||
void set_declination(float radians);
|
||||
AP_Compass_HMC5843(AP_Var::Key key = AP_Var::k_key_none) : Compass(key) {}
|
||||
virtual bool init();
|
||||
virtual void read();
|
||||
};
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -0,0 +1,122 @@
|
|||
#include "Compass.h"
|
||||
|
||||
// Default constructor.
|
||||
// Note that the Vector/Matrix constructors already implicitly zero
|
||||
// their values.
|
||||
//
|
||||
Compass::Compass(AP_Var::Key key) :
|
||||
_group(key),
|
||||
_orientation_matrix(&_group, 0),
|
||||
_offset(&_group, 1),
|
||||
_declination(&_group, 2, 0.0),
|
||||
_null_init_done(false)
|
||||
{
|
||||
// Default the orientation matrix to none - will be overridden at group load time
|
||||
// if an orientation has previously been saved.
|
||||
_orientation_matrix.set(ROTATION_NONE);
|
||||
}
|
||||
|
||||
// Default init method, just returns success.
|
||||
//
|
||||
bool
|
||||
Compass::init()
|
||||
{
|
||||
return true;
|
||||
}
|
||||
|
||||
void
|
||||
Compass::set_orientation(const Matrix3f &rotation_matrix)
|
||||
{
|
||||
_orientation_matrix.set_and_save(rotation_matrix);
|
||||
}
|
||||
|
||||
void
|
||||
Compass::set_offsets(const Vector3f &offsets)
|
||||
{
|
||||
_offset.set(offsets);
|
||||
}
|
||||
|
||||
void
|
||||
Compass::save_offsets()
|
||||
{
|
||||
_offset.save();
|
||||
}
|
||||
|
||||
Vector3f &
|
||||
Compass::get_offsets()
|
||||
{
|
||||
return _offset.get();
|
||||
}
|
||||
|
||||
void
|
||||
Compass::set_declination(float radians)
|
||||
{
|
||||
_declination.set_and_save(radians);
|
||||
}
|
||||
|
||||
void
|
||||
Compass::calculate(float roll, float pitch)
|
||||
{
|
||||
float headX;
|
||||
float headY;
|
||||
float cos_roll;
|
||||
float sin_roll;
|
||||
float cos_pitch;
|
||||
float sin_pitch;
|
||||
|
||||
cos_roll = cos(roll); // Optimizacion, se puede sacar esto de la matriz DCM?
|
||||
sin_roll = 1 - (cos_roll * cos_roll);
|
||||
cos_pitch = cos(pitch);
|
||||
sin_pitch = 1 - (cos_pitch * cos_pitch);
|
||||
|
||||
// Tilt compensated magnetic field X component:
|
||||
headX = mag_x*cos_pitch+mag_y*sin_roll*sin_pitch+mag_z*cos_roll*sin_pitch;
|
||||
// Tilt compensated magnetic field Y component:
|
||||
headY = mag_y*cos_roll-mag_z*sin_roll;
|
||||
// magnetic heading
|
||||
heading = atan2(-headY,headX);
|
||||
|
||||
// Declination correction (if supplied)
|
||||
if( fabs(_declination) > 0.0 )
|
||||
{
|
||||
heading = heading + _declination;
|
||||
if (heading > M_PI) // Angle normalization (-180 deg, 180 deg)
|
||||
heading -= (2.0 * M_PI);
|
||||
else if (heading < -M_PI)
|
||||
heading += (2.0 * M_PI);
|
||||
}
|
||||
|
||||
// Optimization for external DCM use. Calculate normalized components
|
||||
heading_x = cos(heading);
|
||||
heading_y = sin(heading);
|
||||
}
|
||||
|
||||
void
|
||||
Compass::null_offsets(const Matrix3f &dcm_matrix)
|
||||
{
|
||||
// Update our estimate of the offsets in the magnetometer
|
||||
Vector3f calc(0.0, 0.0, 0.0); // XXX should be safe to remove explicit init here as the default ctor should do the right thing
|
||||
Matrix3f dcm_new_from_last;
|
||||
float weight;
|
||||
|
||||
Vector3f mag_body_new = Vector3f(mag_x,mag_y,mag_z);
|
||||
|
||||
if(_null_init_done) {
|
||||
dcm_new_from_last = dcm_matrix.transposed() * _last_dcm_matrix; // Note 11/20/2010: transpose() is not working, transposed() is.
|
||||
|
||||
weight = 3.0 - fabs(dcm_new_from_last.a.x) - fabs(dcm_new_from_last.b.y) - fabs(dcm_new_from_last.c.z);
|
||||
if (weight > .001) {
|
||||
calc = mag_body_new + _mag_body_last; // Eq 11 from Bill P's paper
|
||||
calc -= dcm_new_from_last * _mag_body_last;
|
||||
calc -= dcm_new_from_last.transposed() * mag_body_new;
|
||||
if(weight > 0.5) weight = 0.5;
|
||||
calc = calc * (weight);
|
||||
_offset.set(_offset.get() - calc);
|
||||
}
|
||||
} else {
|
||||
_null_init_done = true;
|
||||
}
|
||||
_mag_body_last = mag_body_new - calc;
|
||||
_last_dcm_matrix = dcm_matrix;
|
||||
|
||||
}
|
||||
|
|
@ -2,24 +2,120 @@
|
|||
#define Compass_h
|
||||
|
||||
#include <inttypes.h>
|
||||
#include "../AP_Math/AP_Math.h"
|
||||
#include <AP_Common.h>
|
||||
#include <AP_Math.h>
|
||||
|
||||
// standard rotation matrices
|
||||
#define ROTATION_NONE Matrix3f(1, 0, 0, 0, 1, 0, 0 ,0, 1)
|
||||
#define ROTATION_YAW_45 Matrix3f(0.70710678, -0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_90 Matrix3f(0, -1, 0, 1, 0, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_135 Matrix3f(-0.70710678, -0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_180 Matrix3f(-1, 0, 0, 0, -1, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_225 Matrix3f(-0.70710678, 0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_270 Matrix3f(0, 1, 0, -1, 0, 0, 0, 0, 1)
|
||||
#define ROTATION_YAW_315 Matrix3f(0.70710678, 0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, 1)
|
||||
#define ROTATION_ROLL_180 Matrix3f(1, 0, 0, 0, -1, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_45 Matrix3f(0.70710678, 0.70710678, 0, 0.70710678, -0.70710678, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_90 Matrix3f(0, 1, 0, 1, 0, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_135 Matrix3f(-0.70710678, 0.70710678, 0, 0.70710678, 0.70710678, 0, 0, 0, -1)
|
||||
#define ROTATION_PITCH_180 Matrix3f(-1, 0, 0, 0, 1, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_225 Matrix3f(-0.70710678, -0.70710678, 0, -0.70710678, 0.70710678, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_270 Matrix3f(0, -1, 0, -1, 0, 0, 0, 0, -1)
|
||||
#define ROTATION_ROLL_180_YAW_315 Matrix3f(0.70710678, -0.70710678, 0, -0.70710678, -0.70710678, 0, 0, 0, -1)
|
||||
|
||||
class Compass
|
||||
{
|
||||
public:
|
||||
int mag_x;
|
||||
int mag_y;
|
||||
int mag_z;
|
||||
float heading;
|
||||
float heading_x;
|
||||
float heading_y;
|
||||
unsigned long last_update;
|
||||
|
||||
virtual bool init(int initialise_wire_lib = 1) = 0;
|
||||
public:
|
||||
int mag_x; ///< magnetic field strength along the X axis
|
||||
int mag_y; ///< magnetic field strength along the Y axis
|
||||
int mag_z; ///< magnetic field strength along the Z axis
|
||||
float heading; ///< compass heading in radians
|
||||
float heading_x; ///< compass vector X magnitude
|
||||
float heading_y; ///< compass vector Y magnitude
|
||||
unsigned long last_update; ///< millis() time of last update
|
||||
|
||||
/// Constructor
|
||||
///
|
||||
/// @param key Storage key used for configuration data.
|
||||
///
|
||||
Compass(AP_Var::Key key);
|
||||
|
||||
/// Initialize the compass device.
|
||||
///
|
||||
/// @returns True if the compass was initialized OK, false if it was not
|
||||
/// found or is not functioning.
|
||||
///
|
||||
virtual bool init();
|
||||
|
||||
/// Read the compass and update the mag_ variables.
|
||||
///
|
||||
virtual void read() = 0;
|
||||
virtual void calculate(float roll, float pitch) = 0;
|
||||
virtual void set_orientation(const Matrix3f &rotation_matrix) = 0;
|
||||
virtual void set_offsets(int x, int y, int z) = 0;
|
||||
virtual void set_declination(float radians) = 0;
|
||||
|
||||
/// Calculate the tilt-compensated heading_ variables.
|
||||
///
|
||||
/// @param roll The current airframe roll angle.
|
||||
/// @param pitch The current airframe pitch angle.
|
||||
///
|
||||
virtual void calculate(float roll, float pitch);
|
||||
|
||||
/// Set the compass orientation matrix, used to correct for
|
||||
/// various compass mounting positions.
|
||||
///
|
||||
/// @param rotation_matrix Rotation matrix to transform magnetometer readings
|
||||
/// to the body frame.
|
||||
///
|
||||
virtual void set_orientation(const Matrix3f &rotation_matrix);
|
||||
|
||||
/// Sets the compass offset x/y/z values.
|
||||
///
|
||||
/// @param offsets Offsets to the raw mag_ values.
|
||||
///
|
||||
virtual void set_offsets(const Vector3f &offsets);
|
||||
|
||||
/// Saves the current compass offset x/y/z values.
|
||||
///
|
||||
/// This should be invoked periodically to save the offset values maintained by
|
||||
/// ::null_offsets.
|
||||
///
|
||||
virtual void save_offsets();
|
||||
|
||||
/// Returns the current offset values
|
||||
///
|
||||
/// @returns The current compass offsets.
|
||||
///
|
||||
virtual Vector3f &get_offsets();
|
||||
|
||||
/// Program new offset values.
|
||||
///
|
||||
/// XXX DEPRECATED
|
||||
///
|
||||
/// @param x Offset to the raw mag_x value.
|
||||
/// @param y Offset to the raw mag_y value.
|
||||
/// @param z Offset to the raw mag_z value.
|
||||
///
|
||||
void set_offsets(int x, int y, int z) { set_offsets(Vector3f(x, y, z)); }
|
||||
|
||||
/// Perform automatic offset updates using the results of the DCM matrix.
|
||||
///
|
||||
/// @param dcm_matrix The DCM result matrix.
|
||||
///
|
||||
void null_offsets(const Matrix3f &dcm_matrix);
|
||||
|
||||
|
||||
/// Sets the local magnetic field declination.
|
||||
///
|
||||
/// @param radians Local field declination.
|
||||
///
|
||||
virtual void set_declination(float radians);
|
||||
|
||||
protected:
|
||||
AP_Var_group _group; ///< storage group holding the compass' calibration data
|
||||
AP_VarS<Matrix3f> _orientation_matrix;
|
||||
AP_VarS<Vector3f> _offset;
|
||||
AP_Float _declination;
|
||||
|
||||
bool _null_init_done; ///< first-time-around flag used by offset nulling
|
||||
Matrix3f _last_dcm_matrix; ///< previous DCM matrix used by offset nulling
|
||||
Vector3f _mag_body_last; ///< ?? used by offset nulling
|
||||
};
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -3,9 +3,11 @@
|
|||
Code by Jordi MuÒoz and Jose Julio. DIYDrones.com
|
||||
*/
|
||||
|
||||
#include <Wire.h>
|
||||
#include <FastSerial.h>
|
||||
#include <AP_Common.h>
|
||||
#include <AP_Compass.h> // Compass Library
|
||||
#include <AP_Math.h> // ArduPilot Mega Vector/Matrix math Library
|
||||
#include <Wire.h>
|
||||
|
||||
#define ToRad(x) (x*0.01745329252) // *pi/180
|
||||
#define ToDeg(x) (x*57.2957795131) // *180/pi
|
||||
|
|
@ -19,12 +21,13 @@ void setup()
|
|||
{
|
||||
Serial.begin(38400);
|
||||
Serial.println("Compass library test (HMC5843)");
|
||||
Wire.begin();
|
||||
compass.init(); // Initialization
|
||||
|
||||
|
||||
compass.set_orientation(AP_COMPASS_COMPONENTS_UP_PINS_FORWARD); // set compass's orientation on aircraft
|
||||
compass.set_offsets(0,0,0); // set offsets to account for surrounding interference
|
||||
compass.set_declination(ToRad(0.0)); // set local difference between magnetic north and true north
|
||||
|
||||
|
||||
delay(1000);
|
||||
timer = millis();
|
||||
}
|
||||
|
|
@ -32,13 +35,13 @@ void setup()
|
|||
void loop()
|
||||
{
|
||||
static float min[3], max[3], offset[3];
|
||||
|
||||
|
||||
if((millis()- timer) > 100)
|
||||
{
|
||||
timer = millis();
|
||||
compass.read();
|
||||
compass.calculate(0,0); // roll = 0, pitch = 0 for this example
|
||||
|
||||
|
||||
// capture min
|
||||
if( compass.mag_x < min[0] )
|
||||
min[0] = compass.mag_x;
|
||||
|
|
@ -46,7 +49,7 @@ void loop()
|
|||
min[1] = compass.mag_y;
|
||||
if( compass.mag_z < min[2] )
|
||||
min[2] = compass.mag_z;
|
||||
|
||||
|
||||
// capture max
|
||||
if( compass.mag_x > max[0] )
|
||||
max[0] = compass.mag_x;
|
||||
|
|
@ -54,12 +57,12 @@ void loop()
|
|||
max[1] = compass.mag_y;
|
||||
if( compass.mag_z > max[2] )
|
||||
max[2] = compass.mag_z;
|
||||
|
||||
|
||||
// calculate offsets
|
||||
offset[0] = -(max[0]+min[0])/2;
|
||||
offset[1] = -(max[1]+min[1])/2;
|
||||
offset[2] = -(max[2]+min[2])/2;
|
||||
|
||||
|
||||
// display all to user
|
||||
Serial.print("Heading:");
|
||||
Serial.print(ToDeg(compass.heading));
|
||||
|
|
@ -67,7 +70,7 @@ void loop()
|
|||
Serial.print(compass.mag_x);
|
||||
Serial.print(",");
|
||||
Serial.print(compass.mag_y);
|
||||
Serial.print(",");
|
||||
Serial.print(",");
|
||||
Serial.print(compass.mag_z);
|
||||
Serial.print(")");
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,2 @@
|
|||
BOARD = mega
|
||||
include ../../../AP_Common/Arduino.mk
|
||||
Loading…
Reference in New Issue