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AP_Compass: fixed orientation of PH2 in-tree compass drivers

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This commit is contained in:
Andrew Tridgell 2016-11-09 22:34:19 +11:00
parent 4ba00720aa
commit 3d5c57c5dc
3 changed files with 12 additions and 11 deletions
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9
libraries/AP_Compass/AP_Compass.cpp
View File

@ -514,14 +514,11 @@ void Compass::_detect_backends(void)
AP_Compass_LSM303D::name, false); AP_Compass_LSM303D::name, false);
} }
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) { if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_TEST_V3) {
_add_backend(AP_Compass_HMC5843::probe(*this, hal.spi->get_device(HAL_COMPASS_HMC5843_NAME), _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0, ROTATION_PITCH_180),
false, ROTATION_PITCH_180),
AP_Compass_HMC5843::name, false);
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 0),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
_add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME)), _add_backend(AP_Compass_LSM303D::probe(*this, hal.spi->get_device(HAL_INS_LSM9DS0_EXT_A_NAME), ROTATION_YAW_270),
AP_Compass_LSM303D::name, false); AP_Compass_LSM303D::name, false);
_add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1), _add_backend(AP_Compass_AK8963::probe_mpu9250(*this, 1, ROTATION_YAW_270),
AP_Compass_AK8963::name, false); AP_Compass_AK8963::name, false);
} }
if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) { if (AP_BoardConfig::get_board_type() == AP_BoardConfig::PX4_BOARD_PIXRACER) {

9
libraries/AP_Compass/AP_Compass_LSM303D.cpp
View File

@ -160,13 +160,14 @@ AP_Compass_LSM303D::AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::
} }
AP_Compass_Backend *AP_Compass_LSM303D::probe(Compass &compass, AP_Compass_Backend *AP_Compass_LSM303D::probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev) AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation rotation)
{ {
if (!dev) { if (!dev) {
return nullptr; return nullptr;
} }
AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(compass, std::move(dev)); AP_Compass_LSM303D *sensor = new AP_Compass_LSM303D(compass, std::move(dev));
if (!sensor || !sensor->init()) { if (!sensor || !sensor->init(rotation)) {
delete sensor; delete sensor;
return nullptr; return nullptr;
} }
@ -254,7 +255,7 @@ bool AP_Compass_LSM303D::_read_sample()
return true; return true;
} }
bool AP_Compass_LSM303D::init() bool AP_Compass_LSM303D::init(enum Rotation rotation)
{ {
if (LSM303D_DRDY_M_PIN >= 0) { if (LSM303D_DRDY_M_PIN >= 0) {
_drdy_pin_m = hal.gpio->channel(LSM303D_DRDY_M_PIN); _drdy_pin_m = hal.gpio->channel(LSM303D_DRDY_M_PIN);
@ -272,6 +273,8 @@ bool AP_Compass_LSM303D::init()
/* register the compass instance in the frontend */ /* register the compass instance in the frontend */
_compass_instance = register_compass(); _compass_instance = register_compass();
set_rotation(_compass_instance, rotation);
_dev->set_device_type(DEVTYPE_LSM303D); _dev->set_device_type(DEVTYPE_LSM303D);
set_dev_id(_compass_instance, _dev->get_bus_id()); set_dev_id(_compass_instance, _dev->get_bus_id());

5
libraries/AP_Compass/AP_Compass_LSM303D.h
View File

@ -12,11 +12,11 @@ class AP_Compass_LSM303D : public AP_Compass_Backend
{ {
public: public:
static AP_Compass_Backend *probe(Compass &compass, static AP_Compass_Backend *probe(Compass &compass,
AP_HAL::OwnPtr<AP_HAL::Device> dev); AP_HAL::OwnPtr<AP_HAL::Device> dev,
enum Rotation = ROTATION_NONE);
static constexpr const char *name = "LSM303D"; static constexpr const char *name = "LSM303D";
bool init() override;
void read() override; void read() override;
virtual ~AP_Compass_LSM303D() { } virtual ~AP_Compass_LSM303D() { }
@ -24,6 +24,7 @@ public:
private: private:
AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev); AP_Compass_LSM303D(Compass &compass, AP_HAL::OwnPtr<AP_HAL::Device> dev);
bool init(enum Rotation rotation);
uint8_t _register_read(uint8_t reg); uint8_t _register_read(uint8_t reg);
void _register_write(uint8_t reg, uint8_t val); void _register_write(uint8_t reg, uint8_t val);
void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits); void _register_modify(uint8_t reg, uint8_t clearbits, uint8_t setbits);